2004 InternatIona1 Conference on

-
Power System Technology POWERCON 2004
Slngapore, 21-24 November 2004

Mathematical Modeling of Power DC/DC Converters

Fang Lin LUO,Senior Member IEEE and Hong Ye, Member IEEE

Abstract -- Mathematical modelling of power EF can illustrate the system stability, reference
DC/DC converters is a historical problem response and interference recovery. This investigation
accompanying with the development of the DC/DC is very helpful for system design and DClDC
conversion technology since 1940’s. The traditional converters characteristics foreseeing. Two DClDC
mathematical modelling is successful to describe converters: Buck converter and Super-Lift
fundamental converters, but not available for Luo-Converter as the samples are analysed in this
complex structure converters since the differential paper to demonstrate the applications of EF, PE, SE,
equation order increases very high. We have to CIR, time constant T and damping time constant q.
search other way t o establish mathematical
modelling for power DClDC converters. 11. A Second-Order Transfer Function
A typical second-order transfer function in the
Index Terms -- Mathematical modeling, Energy s-domain is shown below:
Factor (EF), Power Factor (PF)p power transfer G(s)=
M -- M
(1)
efficiency (q), total harmonic distortion (THD}, Rippk 1 + sz+s27rd I+sr + {s‘rz
Factor (RF), Power DC/DC Converters, sysfem where M is the voltage transfer gain, t time constant,
stability, Unit-Step Response and Impulse Response. ‘d damping time constant, rd = k ~ .

I. Introduction A . Very Small Damping Time Constant

athematical modelling of power DClDC If the damping time constant is very small (i.e.
M converters is a historical problem
accompanying with the development of the DClDC
<< T, 5 << 1) and it can be ignored, i.e. ‘rd =
The transfer function (1) is downgraded to the first
0, 5 = 0.
Td

conversion technology development since 1940’s.

order as G(s)= -M
(2)
Many experts such as Sira-Ramirez, Czarkowski, Ilic, l+sz
Smedley and Cljk devoted in this area [1-81. The The unit-step function response in the time-domain
traditional mathematical modelling is successful to f

describe fundamental converters, but not available for is g(t)=M(l-e-;) (3)

complex structure converters since the differential The response in time-domain is shown in Figure 1
equation order increases very high. with 5 d = 0. The impulse interference response is
Energy storage in power DCDC converters has 1

been paid attention long time ago. Unfortunately, there
is no clear concept to describe the phenomena and
reveaI the reIationship between the stored energy and
the characteristics of power DC/DC converters. We
have theoretically defined a new concept - Energy
Factor (EF)in this paper and researched the relations
between EF and the mathematical modelling for power
DC/DC converters.
~ ~ ~~~~~
Ag(t) = U .e-; (4)
where U is the interference signal. The interference
recovering progress is shown in Figure 2 with ‘d =: 0.
3. Small Damping Time Constant
If the damping time constant is small (i.e. rd < d4,
4 < 0.25). The transfer function (1) is retained the
second-order function with two real poles -crt and -ai

Fang Lin Luo is with Nanyang Technological

University, Nanyang Avenue, Singapore 639798,
(e-mail: effluo@ntu.edu.sg).
Hong Ye is with Nanyang Technological University, The unit-step function response in the time-domain
Nanyang Avenue, Singapore 639798, (e-mail:
yehong@pmail.ntu.edu.sg).
is g ( t ) = M (1 t K,e-‘lr +~ ~ e - ~ 2 ~ )( 6 )

0-7803-8610-8/04d$20.00 02004 IEEE

17
 where U is the interference signal. The response in
time-domain is shown in Figure 2 with t d = 0.25t.
The corresponding waveform in time-domain is
shown in Figure 1 with t d = 0.12. The impulse D.Large Damping Time Constant
interference response is If the damping time constant is large (td > d4, 5 >
0.25), the transfer function (1) is a second-order
(7) function with a couple of conjugated complex poles -sI
and -52 in the left-hand half plane (LHHP) in s-domain
where U is the interference signal. The waveform in
M - M I rr,
time-domain is shown in Figure 2 with z d = 0 . 1 ~ . G(s) = (11)
l+sr+s2rr, (s+s,)(s+s,)

where s, = U + j w and s2 = a - j w

The unit-step function response in the time-domain

-I

g(t)=M[l-e ni s+-
zrd (cosot- cot)] (12)
4r lz-1
The corresponding waveform io time-domain is
Figure 1. Unit-.step function responses. shown in Figure 1 with Td = 0.52,and in Figure 3
with 7 , 2t, SF and 107.

-0

Figure 2. Impulse responses

Figure 3 . Unit-step function responses.
C. Critical Damping Time Constant
If the damping time constant is the critical value
(Td = t/4),the transfer function (1) is the second-order
function with two equaled real poles CTI = C J =~ G as

G(s)=
M -
--
M I rr, (8)
1 t sz + $ 2 T t d ($Jr 0 ) 2

The unit-step function response in the time-domain

iw

Figure 4. Impulse responses.

The response waveform in time-domain is shown
in Figure 1 with z d = 0 . 2 5 ~The
. impulse interference The impulse interference response is

18
where U is the interference signal. The response
waveform in time-domain is shown in Figure 2 with 2 d
= 0.52, and in Figure 4 with 2, 2r, 52 and 102.
111. Traditional Modeling for Fundamental
Converters
Fundamental converters such as Buck converter in
Figure 5 and Boost and Buck-Boost converters, consist
of one inductor L and one capacitor C with load R, and
they have the transfer function [7, 81.
structure converters. For example, a positive-output
Luo-converter has two inductors and two capacitors
[7]. The condition: L, >> L2 and Cr >> Cz has to be
selected for applying this order-reducing method. We
have to find other way to establish mathematical
modeling of power DClDC converters.

C(s) =
M - -
M (14)
1+ s-+L s2Lc 1 + = + s 2 T .
R

j7$?qqb2
i2,
Figure 6. Super-Lift Luo-Converter

VI IV. Energy Factor and New Mathematical

Figure 5. Buck converter
This mathematical model (14) is available for
fundamental converters. However, it is difficult to use
it to complex structure converters such as SEPIC, C6k
converter and Luo-Converters, since there are more
inductors and capacitors in those converters so that
their transfer functions are in fourth-order or higher.
From application practice, most experts guessed
that a second-order transfer function is good enough to
describe the characteristics of power DClDC
converters. A popular way is the order-reducing
method. Suppose some inductors orland capacitors
have very large values, so that their current or/and
voltage variations are small and can be ignored. For
example, the Super-Lift Luo-Converter shown in
Figure 6 has the transfer function below:
M
-
R
l+sC2R - MsC,R (15)
G(5) =
1 R
~
Modeling
Many traditional parameters such as power factor
(PF), power transfer efficiency (q), total harmonic
distortion (THD) and ripple factor (RF), have been
successfully applied in power electronics and
conversion technology [4-81. Using these parameters
can successfully describe the system characteristics.
Power DC/DC converters have usually possessed DC
input and DC output. Consequently, some parameters
such as PF and TBD are not available to describe the
characteristics of power DC/DC converters.
Energy storage in power DClDC converters has
been paid attention long time ago [4]. Unfortunately,
there is no clear concept to describe the phenomena
and reveal the relationship between the stored energy
and the characteristics of power DC/DC converters [7].
We have theoretically defined a new concept - Energy
Factor (EF) in this paper, and researched the relations
between EF and the mathematical modeling for power
DClDC converters. EF is a new parameter in power
electronics and DClDC conversion technology, which

l+s(C, +C,)R+s’LC, +s’LC,C,R thoroughly differs from the traditional concepts such
sL+-+-
sC, f+sC2R as PF, efficiency q, THD and RF. Energy Factor (EF)
and the subsequential parameters: pumping energy
It is a third-order transfer function. If CI is much larger (FE), stored energy (SE), capacitor-inductor stored
than Cz, i.e. C, >> Czor C2/CI = 0, it is downgraded
energy ratio (CIR), time constant T and damping time
into a second-order transfer function as below:
constant Td, can illustrate the system stability,
M
-
R reference response and interference recovery. This
I+sC*R - M
M (16)
,--I
G(s)= -
~ investigation is very helpful for system design and
L
sL+-+- + s -+
1l+s-+sZLC,
SZLC, DC/DC converters characteristics foreseeing.
sC,
SL, l+sC2R
ItSC2K R
All power DClDC converters have pumping circuit
This method can offer enough accuracy for circuit to transfer the energy from the source to some
analysis. Unfortunately, some industrial applications
energy-storage passive elements, e.g. inductors and
cannot posses the condition C , >> Cz. It is more capacitors. P E is used to count the input energy in a
difficult to apply this method to some complex switching period T. Its calculation formula is:

19
 where M is the voltage transfer gain V2/Vlrt the time
constant in (22), Zd the damping time constant in (23).
Using this mathematical model is significantly
easy to describe the characteristics of power DC/DC
The stored energy across a capacitor is I
w,= -cv,’ converters. In order to verify this theory, we use two
2 converters to demonstrate the characteristics of power
Therefore, if there are nL inductors and nc capacitors DC/DC converters and applications of the theory.
the total stored energy (SE)in a DC/DC converter is
A . Buck Converter
A Buck converter in Figure 5 with the components
j =I j=l
values: V I= 40 V, f = 20 kHz (T = 50ps), L = 250 pH, k =
Most power DC/DC converters exist of inductors 0.4, C = 60 pF and R = 10 Cl, There are some power losses,
and capacitors. Therefore, we define the assuming the inductor resistance rL = 1.5 R. W e then obtain
capacitor-inductor stored energy ratio (CIR) 151. V2= 14 V, I2 IL = 1.4 A, PI, = IZLxrL= 1 . 4 ’ ~1.5 = 2.94
-t

W, 11= 0.564 A, the parameters are:

PE = 1.128 mJ, WL = 0.245 mJ, WC = 5.88 mJ, SE =
j=l j-1
6.125 mJ,EF = 5.43, CIR = 24, EL = 0.147 mJ, q = 0.87,
The energy losses in a period T, EL = Plosax T (20) t = 99.6 pS and Td = 130.6 pS.

q=- PE - EL Since 5 = / T = 1.3 1 > 0.25, the transfer function

PE of this Buck converter has two poles (-sl and -s2) that
W e now define the Energy Factor (EF)that is the are located in the left-hand half plane (LHHP).
ratio of stored energy and pumping energy:
-
M pkind (26)
G(s)=
l+ssr+s2rrd (s+s,)(s+s,)

where s, =cr+jo and s, = a - j m

with 1 kHz
U=-=-- -3.83
The time constant r of a DClDC converter is 2r, 261.2,~
defined: ~-2T x EF (1 + CIR I-1) 4
&I=--
s- 452031 -9920 =-- 205.2 - 7.888 kradls
1+ CII? 9 2rrd 26015.5 26OISSp
The damping time constant The unit-step function response is
converter is defined: I

2TxEF V,(t) = 14[1-e 0 ~ ~ 6 1 ( ~ ~ ~ 7 8 8 8 t - 0 0 . 4 8 6 sV~ 7 X S X t ) ~

r, =e - CIR
1 + CIR 7 + CIR(1- 7) The unit-step function response (transient process)
is shown in Figure 7 (simulation result).

They are independent from switching frequency f (or

period T = l/f) as well.

VI. Transfer function of Power DC/DC 6.m ........................................................................... ........

converters
A D C D C converter usually has two or more
3.m ............................ .,........................ ...... ,.............................
energy-storage elements. The time constant T and oml I
om rao 2m 300 400
damping time constant Td are available to form the Trm (W

transfer function of a power DC/DC converter to
describe its characteristics in the second-order
differential operation for a small signal analysis. The
voltage transfer gain of the DC/DC converter is M =
VJV1. The transfer function of the DC/DC converter
can be the mathematical model
M - M (25)
G(s) =
1 + sr + s’rr,, I+sr + gs’r’
Figure 7. Buck converter Unit-step function response,
The impulse interference response is
--
AV,(!) = 0.975Ue D.”(1261 sin7888t
The impulse response (interference recovery process)
is shown in Figure 8 (simulation result).
In order to verify the analysis, calculation and
simulation results, we constructed a test rig with same

20
 that are located in the left-hand half plane (LHHP).

where s, = Q + jo and s, =U- jo

i ..............
@ M....I
...................

6.W ......................
i.. ..................
~

~ ............... i-............
I. ............I..I.

~ .....................
~ . i
....
with a=-=--
2rd
' 1.55s
* -0.645 €32

3.m +.............................. i..................... .......;...............................

I

$3
w=--41686400-295936 ~ --=
- 1197.2
1.3985 krad/s
a.m 27Td 843200 x432aop
The unit-step function response is

V2(t)= 57.25[1 -e'.55(cos1398t -0.461sin1398t)] V

The unit-step function response (transient process)
is shown in Figure 11 (simulation result).

Figure 9. Unit-step function responses of Buck

converter (Experiment)
i
5m
I
1Mo
J
Ihrt-1

Figure 1 1. Super-Lift Luo-Converter Unit-step

responses.
j i 1
m.m ......."................... i............ .......l..".................. il ......... .... ~.~......."
"..,": I

ulyl ............................. ;......................

Figure 10. ImpuIse responses of Buck converter

(Experiment)
. i............... -. ."
nu nm 4% u141
h
..*
B. Super-Lift Luo-Converter I
%m 37.m a
D
.0.0 U.50 (4.m
Figure 6 shows a Super-Lift Luo-Converter with mu (m-3
the conduction duty is k. The components values are Figure 12. Super-Lift Luo-Converter Impulse
Vi = 2 0 V,f=50 ~CHZ ( T = 2 0 ~ s )L, = 100 pH, k=0.5, CI = responses.
2500 pF, C2 = 800 pF and R = 10 R. There are some power ilO.0V r I .oop
. . .
losses, assuming the inductor resistancerL= 0.12 R. We then
obtain V2 = 57.25 V, I2 = 5.725 A,11 = 17.175A, I L = 11.45
A, PhM= 12L x rL 11.45' x 0.12 15.73 W,Vc, =Vi = 20 V,
V a = V, = 57.25 V. It i s operating in CCM, the
parameters are:
PE = 6.87 mJ, WL= 6.555 mJ, Wcl = 500 mJ, Wc2 =
1311 mJ,SE= 1 8 1 7 . 6 m J , E F - 2 6 4 . 6 , C I R = 2 7 6 . 3 , E L
= 0.3146 mJ, q = 0.9542, T = 544 ps and T~ = 775 ps.
Its time constant T = 0.544 ms and damping time
constant ~d 0.775 ms = 1.42s ( 5 = 1.42). The transfer Figure 13. Unit-step function responses of Super-Lift
function of this converter has two poles (-s1 and -s2) Luo-Converter (Experiment)

21
 The impulse interference response is converters” IEEE-Transactions on Power
Electronics, Vol. 2, 1987, pp.154-168,
AV,(t> = 0.923Uex sin1398t 151 Cheng K. W. E. “Storage energy for classical
The impulse response (interference recovery process) switched mode power converters” Proceedings of
is shown in Figure 12 (simulation result). IEE -EPA, Vol. 150, NO. 4, July 2003,
In order to verify the analysis, calculation and pp.439-446.
simuiation resufts, we constructed a test rig with same I61 Lee Y.S. “A systemic and unified approach to
conditions. The corresponding test results are shown in modeling switches in switch-mode power
Figures 13 and 14. supplies” IEEE-Trans. on IE, Vol. 32, 1985, pp.
11o.ov F 1 .ooz Ii 445-448.
... ... ... ... . . . .
.
.
.
..
!
.. .. : :
......... > ......... ......... ..... ...,.. .....f........ i .......I .........j .........j ......... 171 Luo F. L. and Ye H. “Positive Output Super-Lift
Luo-Converters” Proceedings of the IEEE
International Conference PESC’2002, Cairns,
Australia, 23-27 June 2002, pp. 425-430.
I:81 Luo F. L. and Ye H. “Positive Output Super-Lift
Converters” IEEE-Transactions on Power
1 ...
........i.......
...
.. .
I...
....
... ..
i .....,.........I
; j
........ .i...... ;. ..... ........j
. . ..
... + . i
Ik ..
:
.
.
..
..
.
..
.
. i.........
Electronics, Vol. 18, No. 1, January 2003, pp.
105-1 13.

Figure 14. Impulse responses of Super-Lift

Luo-Converter (Experiment) Fang Lin Luo (M’X4, SM’95)
received his 3. Sc. Degree,
First Class with Honours from
VII. Conclusion Sicbuan University, Chengdu,
Mathematical modeling (25) of power DClDC Sichuan, China and his Ph. D.
converters is successfully established in this paper. in Electrical Engineering and
Their parameters are determined by completely new Computer Science (EE L CS)
from Cambridge University,
concepts: Energy Factor (BF) and subsequential England, UK in 1986.
parameters. Using these parameters is easily to
demonstrate all characteristics of power DC/DC He is with the School of Electrical and Electronic
converters. Two typical converters, Buck converter Engineering, Nanyang Technological University,
and Super-Lift Luo-Converter, are employed to Singapore. H e has published 3 teaching text books
and more than 200 technical papers in IEEE
perform these parameters, and satisfactory results are Transactions and IEE Proceedings, and various
obtained. It means Energy Factor (EF) and other International Conferences. His present research
parameters are very helpful in Power Electronics and interest is in the Power Electronics and Motor Drives,
DC/DC conversion technology, ACIDC, AClAC & DC/DC Converters and DClAC
Inverters. Dr. Luo is currently the Associate Editor of
the IEEE Transactions on both Power Electronics and
References: Industrial Electronics.
Sira-Ramirez, H. and I l k , M. “Exact
Linearization in Switched Mode DC to DC Power Hong Ye (S’OO, M’02)
Converters,” International Journal of Control, received the Bachelors Degree
(with first class honors) in
Vol. 50, NO. 2; August 1989, pp. 51 1-524. 1995 and Master Engineering
Dariusz Czarkowski, L. R. Pujara, and Marian K, Degree from Xi’an Jiaotong
Kazimierczuk “Robust Stability of University, China in 1999. She
State-Feedback Control of PWM DC-DC completed her Ph.D. studying
in 2003 in Nanyang
Push-pull Converter” IEEE Trans. on IE, Vol. 42,
Technological University. She
No. 1, February 1995, pp. 108-1 11. ;- * ~ ~ ~ >is %now ~ with
~ . the Nanyang 1 ~I _I

Luo F. L. and Ye H. “Advanced DC/DC I .I ‘ Technological University as a

Converters” CRC Press LLC, Boca Rotan, Florida Research Associate.
USA, September 2003.
Her research interests are in the areas of DC/DC
Wong R. C. Owen H. A. and Wilson T. G. “An converters, signal processing, operations research and
efficient algorithm for the time-domain structural biology.
simulation of regulated energy-storage dc-to-dc

22