Proceedings, 15th IFAC Conference on

Proceedings, 15th IFAC Conference on

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Proceedings, 15th
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Programmable IFAC and
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Ostrava, Czech Devices
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23-25, 2018
Programmable
Ostrava, Czech Devices and
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23-25, 2018
Ostrava, Czech Republic, May 23-25, 2018
ScienceDirect
IFAC PapersOnLine 51-6 (2018) 113–118
Digital
Digital control
control of
of a
a bidirectional
bidirectional DC
DC /
/ DC
DC
Digital control
converter for of a bidirectional
automotive DC /
applicationsDC
Digital control
converter for of a bidirectional
automotive DC /
applicationsDC
converter for automotive applications
converter for automotive applications
Wojciech Wojtkowski Wojciech Wojtkowski
Wojciech Wojtkowski
Faculty of Electrical Wojciech Wojtkowski
Engineering, Bialystok University
University of of Technology,
Faculty
Faculty of Electrical
ofBialystok,
ElectricalPoland Engineering,
Engineering, Bialystok
Bialystok University of Technology,
Technology,
(e-mail: w.wojtkowski@pb.edu.pl)
Faculty ofBialystok,
ElectricalPoland
Bialystok,
(e-mail:Bialystok
Engineering,
Poland
w.wojtkowski@pb.edu.pl)
University of Technology,
(e-mail: w.wojtkowski@pb.edu.pl)
Bialystok, Poland (e-mail: w.wojtkowski@pb.edu.pl)
Abstract:
Abstract: The paper presents
The paper presents the the digital
digital control
control system
system of of aa bidirectional
bidirectional DC DC // AC AC //
Abstract:
DC
DC converter,
converter, The paper
implemented
implemented presents in
in an the
an digital
FPGA
FPGA control
device.
device. To system of
demonstrate
Tosystem
demonstrate a bidirectional
proper DC
operation
proper operation / AC
of
of the
the/
Abstract:
DC
entire converter,
system Theand paper
implemented
two-way presents in
power the
an digitaldevice.
FPGA
transmission, control To
selected ofof alaboratory
demonstrate
results bidirectional
proper DC / of
operation
investigations ACtheare/
entire
DC system and
converter, two-way power
implemented in antransmission,
FPGA selected
device. To results of laboratory
demonstrate proper investigations
operation of are
the
entire
presented
presented system and
and and two-way
analyzed.
analyzed. By
By power transmission,
implementing
implementing the
the selected
FPGA results
based of laboratory
solution, requiredinvestigations
nine waveforms, are
entire
presented system
controlling and and
MOSFET two-way
analyzed. Bypower
switches transmission,
implementing
(9 control the FPGA
channels) selected
FPGAwere
based
based
obtained
solution,
results
solution, well
required
ofaslaboratory
required
as the
nine
nine waveforms,
investigations
desired waveforms,
frequency are
controlling
presented MOSFET
and analyzed. switches
By (9 control channels)
implementing the FPGAwerebased
obtained as wellrequired
solution, as the desired
nine frequency
waveforms,
controlling
range
range of theMOSFET
control.
of theMOSFET
control. The switches
The (9
presented
presented control channels)
solution
solution may
may be were
be obtained
used
used in as
vehicles
in vehicles well as
with
with the desired
hybrid
hybrid frequency
propulsion
propulsion or
or
controlling
range
purely of the
electric, control.
where switches
The
the (9 control
presented
low-voltage channels)
solution
source may were
be
(battery obtained
used
pack in or as well
vehicles as the
with
super-capacitors) desired
hybrid frequency
propulsion
cooperate with or
purely
range
purely electric,
of the
electric, where
control.
where the
The
the low-voltage
presented
low-voltage source
solution
source (battery
may be
(battery pack
used
pack in or
or super-capacitors)
vehicles with
super-capacitors) hybrid cooperate
propulsion
cooperate with
with or
high-voltage
high-voltage devices
devices (electric motors, generators, high voltage battery stack).
purely electric,
high-voltage where(electric
devices motors,
motors, generators,
the low-voltage
(electric source (battery
generators, high voltage
highpack
voltage battery
battery stack).
or super-capacitors)
stack). cooperate with
© 2018, IFAC devices
high-voltage (International Federation
(electric motors,of generators,
Automatic Control) Hostingbattery
high voltage by Elsevier Ltd. All rights reserved.
stack).
Keywords:
Keywords: Automotive
Automotive electronics,
electronics, bidirectional
bidirectional DC DC // AC AC // DC DC ,, digital
digital control,
control, power
power
Keywords:
converter,
converter, Automotive
FPGA. electronics, bidirectional DC / AC / DC , digital control, power
Keywords: FPGA.
converter, Automotive electronics, bidirectional DC / AC / DC , digital control, power
FPGA.
converter, FPGA.
1. INTRODUCTION
1. tention to to selection
selection of of the control
control strategies and and their
their fea-
fea-
1. INTRODUCTION
INTRODUCTION tention
tention
sibility. to
Whenselection
the of the
power control strategies
theconverter strategies
is controlledand by theirPWMfea-
1. INTRODUCTION sibility.
tention to
sibility. When
When the
selection
thechip powertheconverter
of microcontroller
power is
is controlled
control strategies
converter controlledand by their
by PWM
PWMfea-
High power bidirectional DC-DC converters are widely signals,
signals, a single
a single chip microcontroller with built-in
with built-in PWM
High power bidirectional DC-DC converters are widely sibility.
signals,
block is When
a single
is often not the power
chip converter
microcontroller
not sufficient,
sufficient, as is controlled
with
as some difficulties built-in
difficulties may by
may PWMPWM
occur
High
used in power
in bidirectional
industrial, commercial, DC-DC converters
residential andare widely block
aerospace
used
High in
used industrial,
power commercial,
bidirectional
industrial, commercial, DC-DC residential
converters
residential and aerospace
are
and2004, widely
aerospace
signals,
block
in is often
a single
often
achieving anot chip
sufficient,
sufficiently as some
microcontroller
high some withfrequency
built-in
difficulties
driving may PWM occur
occur
while
environments
environments (See
(See Xu
Xu et
et al.,
al., 2004,
2004, Peng
Peng et
et al.,
al., 2004, Patel
Patel in
blockachieving
is oftenhighanotsufficiently
sufficient, high
as some driving frequency
difficulties while
maysignals
occur
used in
environments industrial, commercial, residential and aerospace in achieving
maintaining a sufficiently
enough high
resolution driving
of thefrequency
PWM while
2016).Electric (See
2016).Electric and
Xu et al.,
and hybrid
hybrid 2004,also
vehicles
vehicles
Pengutilize
et al.,bidirectional
2004, Patel maintaining high enough resolution of the PWM signals
in achieving aetsufficiently high driving frequency while
environments
2016).Electric
converters for (See
and Xu et al.,
hybrid
transferring 2004,also
vehicles
energy Peng
also
from
utilize
et
utilize al.,bidirectional
battery 2004,
bidirectional
stacksPatel
to (See
maintaining
(See Lewczukhigh
Lewczuk et
enough
al.,
al., 2017,resolution
2017, Wojtkowski
Wojtkowski
of the
2017).
2017).
PWM signals
Currently,
Currently,
converters
2016).Electric for transferring energy from battery stacks to maintaining
(See Lewczuk high
et enough
al., 2017, resolution
Wojtkowski of the
2017).PWM signals
Currently,
converters
electric motorsfor and
andhybrid
transferring vehicles
energy
from electric
electric also
fromutilize
generators tobidirectional
battery stacks or
batteries to therethere are are relatively cheap cheap microcontrollers
microcontrollers available available on on
electric
converters
electric motors
motors and from
for transferring
and from energy
electric generators
from
generators
to
battery batteries
toduring stacks
batteries or
to there
or the are relatively
(Seemarket,
Lewczuk e.g.etAVR
relatively al., cheap
AVR 2017,
familyWojtkowski
microcontrollers
offering hardware2017).
hardware Currently,
available
generation on
supercapacitors (for kinetic energy recovery brak- the
there market, e.g.
are signals
relatively family offering generation
supercapacitors
electric(Seemotors
supercapacitors
ing) Mishima
(for
and
(for kinetic
etfrom
kinetic
2005,
energy
al., electric
energy
Garcia
recovery
generators
recovery al.,to
et al.,
during
batteries
during
2005,
brak-
or the
brak-
Slanina of
of
market,
PWM
PWM e.g. AVR
signals withcheap
with family microcontrollers
frequency
frequency
offering
up hardware
up to 500
to 500 kHz available
kHz generation
at 7-bit
at
on
7-bit
ing) (See
supercapacitors Mishima (foret al., 2005, Garcia et 2005, Slanina the
of market,
PWM e.g.
signals AVR
with family
frequency offering
up hardware
to 500 kHz generation
at 7-bit
ing)
et al.,(See Mishima
2016).Bidirectional et kinetic
al., 2005, energy
Garcia
converters recovery
et important
are during
al., 2005, brak-
Slanina
for resolution. In
en- resolution. In practice, such such resolution
resolution may may be be insufficient.
insufficient.
et al.,
ing)
et al.,(See2016).Bidirectional
Mishima
2016).Bidirectional et al., converters
2005, Garciaare
converters et important
are for
for en-
al., 2005,batteries
important Slanina of PWM
en- resolution.
High switchingIn practice,
signals with such
practice,
frequency frequency
is up tomay
resolution
important, 500bekHz
because at 7-bit
insufficient.
of the
the need
ergy
ergy transfers
transfers between
between higher
higher voltage
voltage automotive
automotive batteries High switching
resolution. frequency
In practice, suchis important,
resolution because
may of need
be insufficient.
et al.,
ergy 2016).Bidirectional
transfers between converters
higherand voltage are important
automotive for
batteriesen- High
to switching
ensure certain frequency
quality ofis important,
the output because
waveforms of the
and need
over-
(like 400 V baterry stacks) low voltage batteries like to
Highensure certain
switching quality of the output waveforms and over-
(like
ergy
(like
12
400
Vtransfers
400
or 48
48
V
V V.baterry
between
baterry
Automotive
stacks)
higher
stacks) and
and low
low voltage
voltage
applications automotive
voltage batteries like
like to
batteries
batteries
frequently utilizes all
all
ensure certainfrequency
miniaturization.
miniaturization. quality ofisthe
In such
In such important,
applications,
applications,
because
output waveforms control
control
ofand
the need
over-
systems
systems
12 V
(like or V. Automotive applications frequently utilizes to
all ensure certain
miniaturization. quality
In of
such the output
applications, waveforms
control and over-
systems
12 V 400 or 48
supercapacitors V V.baterry
Automotivestacks)applications
for temporary
temporary andenergy
low voltage batteries
frequently
storage. To get like
utilizes implemented in
full implemented in FPGA work work particularly
particularly well well (See
(See Syed
Syed etet
supercapacitors
12 V or 48 of
supercapacitors V. such for
Automotive
for energy
temporary energy
applications
energy storage.
frequently
storage. To
To get full
utilizes
get
all miniaturization.
full- implemented
al., 2004, Yanxiain FPGA
FPGAet In
al.,such
work applications,
particularly
2009).The digital control
well (See systems
control Syed
system et
advantage storage, a bidirectional DC al., 2004, Yanxia et
advantage
supercapacitors of
of such energy storage, a bidirectional DC implemented
full-- al., 2004, Yanxiain FPGA et al.,
al., 2009).The
work
2009).The digital
particularly
digitalwell control
(See
control system
Syed
system et
advantage
DC
DC converter
converter is for
such
is
temporary
energy
necessary.
necessary. In
energy
storage,
In this
this a storage.
bidirectional
article
article
To get
a bidirectional
a bidirectionalDC based
based
al.,
on FPGA,
on
2004,
FPGA,
Yanxia
for
for
et
control
control
al.,
of
of
2009).The
a bidirectional
a bidirectional
digital
converter
converter
control system
is
is
advantage
DC converter of such
is energy
necessary. storage,
In this a bidirectional
article a bidirectionalDC - based
presented on FPGA,
in the for control
article. The ofconverter
a bidirectional
circuit converter
is adapted is
DC
DC --- AC
AC -- DC
converter
AC
DC converter
- DC
converter is
is necessary.
converter
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In
is
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this article
discussed
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from
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presented
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on FPGA, the article.
for
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lowarticle.
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Theofconverter
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source (acid
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a bidirectional
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is
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converter
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or
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of view.
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article.voltage
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view.Jalbrzykowski
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super-capacitor low DC
pack) voltage
with a source
high DC (acid
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source pack or
(e.g.
article 2009).isDigital
al., 2009). presented
Digital in the
control of super-capacitor pack) with
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(See The converter
Jalbrzykowski et al.,
etoperation
al., 2009). isDigital
presented control of
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DCpack).
voltage source
high DC(acid
the DC
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source
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solution,
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or
(e.g.
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such
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bidirectional converter
converter is
is based
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on an
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super-capacitor pack) pack).
with aIn the
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DC voltage solution,
source the
(e.g.
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because (See Jalbrzykowski
of relatively
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high number
number 2009).
based on Digital
of output
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channels deviceof high
and powervoltage
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associated with
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an the low voltage
presented
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voltage source
allowing the
source a
the operating
the operating frequency.
frequency. The The converter
converter shouldshould work work withwith converts the
power converter DC voltage
associated to an
with AC
the voltage,
low voltage allowing
source a
because
the operatingof relatively
frequency. high number
The converter of output
should channels
work and
with converts
simple the DC
transformation voltageto to
a an
higher AC voltage,
voltage (Seeallowing
Inone eta
relatively high switching frequency, because of the need of simple
converts transformation
the DC voltage to a higher voltage (See Inone et
relatively
the operating
relatively
miniaturization.
high switching
high frequency.
switching frequency,
The
meansfrequency,
It means in automotive
because
converter
because
automotive should of
of thework
the
applications
need
need of
of simple
with
any al.,
al., 2007,
2007,
transformation
Jalbrzykowskiet
Jalbrzykowskiet to atoal.,
al.,
an
higher ACvoltage
2008).
2008).
voltage,
The
The (Seeallowing
increase
increase Inone et
in the
in thea
miniaturization.
relatively high It
switching in
frequency, applications any simple
al., 2007,transformation
Jalbrzykowskiet to a higher
al., 2008). voltage
The (See
increase Inone
in et
the
miniaturization.
reduction
reduction of size
of
It means
and weight reallybecause
inisautomotive of the
applications
important, needany
because of amount of
it amount of the
al., currents,
the transmitted
transmitted energy
2007,ofJalbrzykowskiet
energy entails
al., 2008).
entails an an increase
Theinincrease
increase in in
in the
miniaturization.
reduction
has an of size
influencesize onand
It the
and weight
means
weight inis
overall
really
really important,
isautomotive
vehicle applications
important,
performance.
because
because any
Minia-
it
it amount
the
the currents,
the transmitted
resulting
resulting in energy
increased
in increased
entails
losses
losses
an
inanthe
the
increase
converter
converter
in
has an amount ofEnergy
the transmitted energy entails theincrease in
has an influence
reduction
turization of
of size
influence theon
on
and the
the
converter
overall
weight
overall vehicle
is vehicle
modulereallyalsoperformance.
important,
performance.
makes it
Minia-
itbecause
Minia-
easier it the
to
currents,
switches.
switches. Energy
resulting
losses in
losses in
increased
the
the converter
converter
losses
caninseverely
can severely converter
reduce
reduce
turization
has an of
influence the converter
on the overallmodule
vehicle also makes
performance. easier
Minia-to the
the currents,
switches. Energy
efficiency resulting
of losses
the in
in increased
the
system, converter
and losses
can
consequently in the
severely converter
reduce
achieving
turization
shield it of the converter
it effectively order module
in order to protect alsovehicle
makescommunica-
it easier to the efficiency of the system, and consequently achieving
shield switches. Energy losses involtage
the converter canimpossible.
severely reduce
turization
shield
tions it effectively
of the
effectively
systems against
in
converter to
to protect
order module
in interference protectalsovehicle
from makescommunica-
vehicle
DC/DC easier to the
itconverter.
communica- of
of
efficiency
the
the desired
desired
ofoutput
the system,
output voltage
and consequently
may
may be
be impossible.
achieving
The
The
tions
shield systems against
it effectively interference
in interference
order to protectfrom DC/DC
vehicle converter.
communica- the
of efficiency
the
methods desired
used of
to the
output system,
reduce voltage
the and consequently
may
converter be impossible.
losses, achieving
determineThe
tions
It is systems
important against
because contemporary from DC/DC
vehicles converter.
use many methods used to reduce the converter
It is of the desired output
reducevoltage may be losses, determine
impossible. The
It is important
tions
wireless systems
important
systems
because
against
because contemporary
like interference whichfrom
contemporary
Wi-Fi
vehicles
DC/DC
vehicles
is quite
quite
use
use many
converter.
vulnerable many methods
feasibility
to feasibility
used
and
to
and profitability
profitability the converter
of its
of its practical
practical
losses, determine
implementation
implementation
wireless systems like Wi-Fi which is vulnerable to methods used to reduce the converter losses, determine
It is important
wireless
different systems because
interference like Wi-Fi contemporary
(Zankiewiczwhich is vehicles
quite
2012). use
vulnerable
The many
discussed to feasibility
(See Chen and
(See Chen 2005).
2005).profitability of its practical implementation
different
wireless interference
systems like (Zankiewicz
Wi-Fi which 2012).
is quite The discussed
vulnerable to feasibility
(See Chen and 2005).profitability of its practical implementation
different
converter is interference
is controlled
controlled by (Zankiewicz
by 55 different 2012).
different control The
control signals. discussed
signals. High High (See Chen 2005).
converter
different interference (Zankiewicz 2012).
converter
switching is controlledsufficient
frequency, by 5 different control
resolution ofThecontrol discussed
signals. High5
and 2. BIDIRECTIONAL DC
2. DC / AC // DC DC CONVERTER
switching
converter(9is
switching
different
frequency,
controlled
frequency,
total)
sufficient
by 5impose
sufficient
channels
resolution
different control
resolution
special
of
of control
signals.of
control
attention
and
High
andthe
55 2. BIDIRECTIONAL
BIDIRECTIONAL DC // AC AC / DC CONVERTER
CONVERTER
different (9 total) channels impose special attention of the 2. BIDIRECTIONAL DC / AC / DC
switching
different
digital control
digital
(9frequency,
total)
control circuit. sufficient
channels
circuit. Proper impose
Proper design resolution
special
design of of control
attention
of aa power
power system, and
of the 5 Bidirectional power
system, Bidirectional power conversion
conversion system system is is CONVERTER
shown in Fig.
shown Fig. 1.
different
digital
operating (9
control
attotal) channels
circuit.
frequencies Proper impose
above 300 special
design kHz of aattention
power
needs specialof the
system,at- Bidirectional
It consists of power
two conversion
bridge current system
mode is shown in
converters in Fig. 1.
indicated 1.
operating
digital control
operating at
at frequencies
circuit. Proper
frequencies above
above design300
300 kHz
kHz of needs
a power
needs special
system,
special at- It
at- consists
consists of
Bidirectional
It of two
power
two bridge current
conversion
bridge mode
mode converters
current system is shown in
converters indicated
Fig. 1.
indicated
operating
2405-8963 ©at frequencies
2018, above 300
IFAC (International kHz needs
Federation of Automatic at- It
specialControl) consists
Hosting of twoLtd.
by Elsevier bridge current
All rights mode converters indicated
reserved.
Copyright © 2018 IFAC 113
Copyright
Peer review© under
2018 IFAC 113 Control.
responsibility of International Federation of Automatic
Copyright © 2018 IFAC
10.1016/j.ifacol.2018.07.139 113
Copyright © 2018 IFAC 113
2018 IFAC PDES
114
Ostrava, Czech Republic, May 23-25, 2018 Wojciech Wojtkowski / IFAC PapersOnLine 51-6 (2018) 113–118
Fig. 1. Bidirectional DC/AC/DC converter
in Fig. 1 as L and H. They are galvanically isolated
by the high-frequency transformer TR . During energy
transmission from the low voltage source VL , the converter
L operates as an inverter, and the H converter works as a
rectifier. During the reverse transmission, the H converter
operates as an inverter and the L is becoming a rectifier.
Switching process of both inverters is supported by a
series-parallel resonant circuit (Fig. 1). It is composed of
CL and CH capacitors, shunting individual switches and a
resonant inductor LH . The inductance LH is increased by
the transformer leakage inductance. A detailed description
and analysis of the converter is presented in the article
(See Jalbrzykowski et al., 2009). The control of the energy
transfer between VL and VH sources in the presented
converter, is accomplished by the switching frequency
changes, while maintaining a fixed off time. The L inverter
control pulses are shown in the Fig. 2.
There is an interval, during the switching period T , when
all the L inverter switches (TL1 , TL2 , TL3 and TL4 ) are
turned on simultaneously (Fig. 2, interval tov - shaded
114
Fig. 2. Control pulses of L inverter
Fig. 3. Control pulses of H inverter
range). The length of this interval increases with decreas-
ing of the control frequency, due to the maintenance of a
fixed interval TLcons .
The result is an increase of the L inverter output voltage
during the boost operation. The increase in voltage VL
causes increase of current IL and introduces an increase of
amount of the energy transferred from the source of low
voltage VL . The increase in the control frequency causes
at some point that the tov interval disappears. When there
are no tov interval at all, the voltage is not increased and
the energy is not transmitted in direction from L to H.
The process of energy transmission from the H source to
the L source is different. Since increasing of the voltage is
not required in that case, the H inverter can be controlled
in a higher frequency region, and tov interval is not present.
The corresponding diagram of the H inverter control
pulses at its maximum switching frequency is shown in
Fig. 3.
The increase in the amount of energy transmitted from
the source H to L occurs with decreasing of the control
frequency. To ensure soft switching of the H inverter
switches, there is a possibility to include additional parallel
capacitor C. Additional capacitor C is switched by tran-
sistor TS (Fig. 1). When the TS transistor is turned off,
resultant capacitance consist of the relatively small output
capacitance of the TS transistor connected in series with
the capacitor C.
3. THE CONTROL SYSTEM
The presented converter is controlled by the 9-channel
power MOSFETs control system. Since there are pairs
of transistors that are switching together at the same
time, the control logic consists of just 5 independent
output channels. This amount of control channels and
the required high operating frequency while maintaining
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Fig. 4. Block diagram of the control system
high enough resolution of the control signals, led author
to the FPGA implementation. The block diagram of the
control system of the presented converter is shown in Fig.
4. The area surrounded by the dashed line in Fig. 4 shows
the control system implemented in digital technology on
a single FPGA chip. The project is realized using an
FPGA Cyclone II family EP2C20F484C7N mounted on
the Terasic DE1 evaluation board, and an 11-bit ADC
in the feedback loop, mounted on the additional PCB.
The digital part of the control system implemented in an
FPGA, shown in Figure 4, comprises connections marked
as bold arrows. They denote a binary parallel links. The
feedback signal from the L inverter input, proportional to
the source VL current IL , is converted to a binary number
in the analog to digital converter (ADC, Fig. 4).
The corresponding sequential - combinational logic system
controls operation of the converter. The feedback signal in
digital form is sent to the digital adder-subtractor node,
where it is subtracted from the set-point value, which is
fed by the user or by an external control. The error signal
from the output of the sum block, as a binary number, goes
to the input of the digital proportional-integral controller
(PI, Fig. 4). After the correction introduced by the PI
controller, signal goes to the input block of the digital
multi-channel pulse frequency modulator DPFM (DPFM,
Fig. 4). DPFM module is equipped with an auxiliary block
(Adj, Fig. 4), allowing for fine adjustment of the constant
times of the generated waveforms (tLcons , tHcons , Fig 2,
Fig 3). The corresponding output signals from DPFM
modulator control operation of each MOSFET device. A
block diagram of just one channel of the DPFM modulator
is shown in the Fig. 5.
The DPFM system contains several digital blocks, per-
forming necessary functions to generate a modulated sig-
nal. Each DPFM channel consists of a module that allows
to change the output frequency and a module that allows
to change the time constants(tLcons , tHcons ). Changing the
time constants is needed in order to adjust to the optimal
operation. Changing the time constant may be performed
by the user. Changing the output frequency is carried
out on the basis of the value sent from the PI controller.
115
Fig. 5. A block diagram of one channel of the DPFM
modulator
Fig. 6. A block diagram of Ch1 vf
The main functional blocks of the DPFM are Ch1 vf and
Ch1 vw. The Ch1 vf block is responsible for generation of
the time reference waveforms at a set frequency. Reference
frequency is set by the Freq1 set block based on the inputs
f1 Down and f1 Up. The clock signal from the Ch1 vf
block clocks the Ch1 vw module, which is used to generate
the time constants. The time constants tLcons and tHcons
can be modified by the user (Width1 set block, controlled
by external signals tconst1 Down and tconst1 UP - Fig.
5). The output of the block Ch1 vw (Ch1 out, Fig. 5)
goes directly to the appropriate channel of the MOSFET
drivers block (Fig. 4). The Ch1 vf block diagram is shown
in Figure 6. It uses the controlled binary counter with
a parallel input and a digital comparator. The counter
is clocked at the maximum frequency available in the
system for high-resolution adjustment. The binary value
from the output of the counter is constantly compared
in the digital comparator with the value set by the FS
block. The FS block is controlled by the external signals
fT1 Down and fT1 Up, enabling changes of the Ch1 vf
block output signal frequency (Fig. 6).
The digital comparator output controls the RS flip-flop
which is set or reset depending on the current state of
the comparison. The Ch1 vf output goes to the input of
the Ch1 vw (Fig. 5). The Ch1 vw block diagram is shown
in Fig. 7. The Ch1 vw consists of the digital mono-stable
generator MG and the width-set module WS. The diagram
of the MG generator is shown in Fig. 8. The mono-stable
generator MG is clocked by the Ch1 vf output signal of
the appropriate control channel and after triggering by
the rising edge, generates an appropriate time constant.
This time can be modified by the user through the input
signals wT1 Up and wT1 Down (Fig. 7).
Modification of the time constants is needed only during
laboratory investigations to determine the optimal control
parameters. The MG generator consists of a D-type flip-
flop and a counter (lpm counter Fig. 8). The clk input
provides the clock signal of the highest frequency available
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Fig. 7. A block diagram of Ch1 vw
Fig. 8. Diagram of MG generator designed in Quartus
in the system. The control system can be adjusted in a
wide range depending on the parameters of the inverter
and the required resolution of the output waveform regu-
lation. The in input (Fig.8 ) is used to trigger the output
pulse that appears at the ydf f . The output y (Fig.8)
is provided only for diagnostic purposes. After latching
logic one in the D latch, lpm counter unlocks and starts
counting the incoming pulses. When an overflow occurs,
the MG generator is reset and this is the end of the
generated pulse. Counting time, starting after triggering
of the input pulse, depends on the value entered into the
counter by the WS block (data[9..0]). The higher is the
entered value, the shorter is the pulse generated by the
MG block.
4. EXPERIMENTAL RESULTS
To verify the operation of the digital control system for
the two-way DC / AC / DC converter, an appropriate
laboratory breadboard was built. Experiment setup: VL
was varied from 25 V to 50 V , VH = 300 V , LF I =
100 µH, LF H = 400 µH, resonant inductance LH = 24
µH, resonant capacitance CL = 30 nF , CH = 10 nF ,
C = 120 nF . Switching frequency was changed in the
range from 195 kHz to 310 kHz. For the L converter,
the MOSFET IRFP4227 transistors were used, while for
the H converter the MOSFET IXFN34N100. The high
current L converter is galvanically isolated from the high
voltage H converter by a high-voltage, high frequency
transformer. The voltage ratio of the transformer is equal
kT = 3. In order to reduce the leakage inductance of the
transformer, the windings are wound bifilar using the Litz
wire. The leakage inductance of the transformer LS =
11 µH. The digital control circuit was built using the
Terasic Cyclone II FPGA Starter Board - DE1 with an
FPGA from the Cyclone II family - EP2C20F484C7N. The
waveforms generated by the converter control system are
116
Fig. 9. The control signals: L converter - ”Ch1” and ”Ch2”,
H converter ”Ch3” and ”Ch4”, fH = 327 kHz, THcons
= 2.2 µs.
Fig. 10. The control signals: L converter - ”Ch1” and
”Ch2”, H converter ”Ch3” and ”Ch4”, fH = 195
kHz, THcons = 2.2 µs.
presented in Figures 9, 10, 11 and 12. The Figures show
the waveforms for two directions of power transmission:
from H to L direction (Figures 9 and 10) and from
L to H direction (Figures 11 and 12). The channels 3
and 4 are related to the H converter control while the
channels 1 and 2 are related to the L converter. In order to
assess the dynamic properties of the whole system working
with a closed loop control, a relevant experimental studies
were carried out. During the investigations, predetermined
sinusoidal current signal, with a positive DC component
was fed from the laboratory generator. Research with
different reference signal frequencies allow to estimate the
phase shift between the preset and analyzed signal, and
related dynamic properties of the system. The tests were
performed for both directions of energy transfer.
Waveforms obtained in the inverter circuit for the closed
loop control are presented in Figures 13, 14, 15, 16, 17
and 18. Figures 13, 14 and 15 show waveforms obtained
during energy transfer from L to H. Figures 17 and 18
show waveforms obtained during energy transfer from H
to L. Figure 13 shows the waveforms of the reference signal
(Ch1), the current iH (Ch3) and the current iL (Ch4). Due
to the fact that the currents iH and iL in all cases are in
phase, which can be noticed in Figures from 13 to 18, only
the signal proportional to the current of the converter L is
sufficient to implement the feedback control loop for both
directions of energy transfer.
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Fig. 11. The control signals: L converter - ”Ch1” and Fig. 13. ”CH1” - reference signal, ”CH3” - iH current,
”Ch2”, H converter ”Ch3” and ”Ch4”, fH = 333 ”CH4” - iL current. L converter supplied from super-
kHz, THcons = 1.9 µs. capacitor VL = 26 V, f = 50 Hz.

Fig. 14. ”CH1” - reference signal, ”CH3” - iH current,

Fig. 12. The control signals: L converter - ”Ch1” and ”CH4” - iL current. ”L” converter supplied from
”Ch2”, H converter ”Ch3” and ”Ch4”, fH = 196 supercapacitor VL = 26 V, f = 100 Hz.
kHz, THcons = 1.9 µs.

Waveforms shown in Figure 16 present the complete cycle

of changing direction of the energy transfer. The positive
half of the reference signal (”Ch1” - Fig. 16) corresponds
to energy transfer from L to H. The negative half of
the reference signal corresponds to direction of energy
transmission from H to L. The system was powered from
a super-capacitor charged to a voltage equal 40 V . During
relapse process, the super-capacitor is not fully discharged
because the charge used during the positive half of the
reference signal is replenished during the negative half of
the reference signal.
It can be noticed that the frequency of the signal during
the relapse is equal 3 Hz. It was limited due to the
applied mechanical switch instead of TS (Fig. 1). The Fig. 15. ”CH1” - reference signal, ”CH3” - iH current,
mechanical switch replaced the transistor, because during ”CH4” - iL current. L converter supplied from super-
the experimental investigations there existed problems capacitor VL = 52 V, f = 210 Hz.
with incomplete disconnected capacity C by transistor The phase of the reference signal (Ch1) in the figures 17
TS (Figure 1). Namely, the output capacitance of the and 18 is reversed due to opposite direction of the attached
transistor formed a serial connection with the capacitance current probes.
C, what introduced a distortion of the calculated resonant
process. 5. CONCLUSION
Selected waveforms obtained during energy transmission
from the source of a high voltage to the source of a high The paper presents the digital control system of a bidirec-
current (direction H - L) are presented in Figures 17 and tional DC / AC / DC converter, implemented in an FPGA
18. device. Main blocks of the digital implementation are de-

117
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118
Fig. 16. ”CH1” - reference signal, ”CH3” - iH current,
”CH4” - iL current. Change of direction at the fre-
quency f = 3 Hz.
Fig. 17. ”CH1” - reference signal, ”CH3” - iH current,
”CH4” - iL current. ”L” converter supplied from
supercapacitor VDC = 48 V, f = 103 Hz
Fig. 18. ”CH1” - reference signal, ”CH3” - iH current,
”CH4” - iL current. L converter supplied from super-
capacitor VL = 48 V, f = 204 Hz
scribed and explained. To demonstrate proper operation
of the entire system of the two-way power transmission,
selected results of laboratory investigations are presented.
By using the FPGA based circuit, the required nine wave-
forms, controlling the MOSFET switches (5 independent
control channels) were obtained as well as the required
frequency range of control. The system works properly in
both directions of the energy transmission: L - H and H
- L. The presented solution may be suitable for use in
vehicles with hybrid propulsion or purely electric, where
118
the low-voltage source (battery pack or super-capacitors)
cooperate with the high-voltage devices.
ACKNOWLEDGEMENTS
This work was supported by the grant S/WE/1/2016 from
Bialystok University of Technology founded by Ministry of
Science and Higher Education.
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