Current Control and PWM Dimming in an

Automotive LED Driver based on a Ćuk Converter

Alihossein Sepahvand∗ , Ashish Kumar∗ , Montu Doshi† , Vahid Yousefzadeh† , James Patterson† ,
Khurram K. Afridi∗ , and Dragan Maksimović∗
∗ Colorado
Power Electronics Center
Department of Electrical, Computer and Energy Engineering
University of Colorado, Boulder, CO 80309-425, USA
Email: {ali.sep, khurram.afridi, maksimov}@colorado.edu

† Lighting
Power Products, Texas Instruments, Inc.
Email: {montu.doshi, vahid.yousefzadeh, james.patterson}@ti.com

Abstract—This paper presents a current controller for an IIN vs1 ip 1 : 1 is vs2 iL,OUT ILED
automotive LED driver based on a zero-voltage switching (ZVS) L1 L2
Cb1 Cb2
Ćuk converter using planar integrated magnetics. The driver
c1(t) c2(t) N
outputs regulated dc current through a string of N = 1-12 LED’s, VIN Q1 Q2 Cout
/('V
VOUT
which implies the need to operate over a wide output voltage
Rs
range (approximately 3-40 V). It is found that the low-frequency T1 i2
gain of the duty-cycle-to-output-current transfer function exhibits vs
3UHDPSOLILHU
weak dependence on the output voltage, which simplifies the *DWH *DWH
GULYHU GULYHU DQDORJFRQGLWLRQLQJ
controller design. A simple integral compensator is used to
achieve wide-bandwidth control of the output current. PWM $'
dimming is performed by turning the converter on and off,
eliminating the need for any additional circuitry or lossy linear
current regulators. Converter turn-on and turn-off strategies u[k] 'LJLWDO,QWHJUDO e[k]
FRPSHQVDWRUDQG IREF
'LJLWDO3:0
are introduced to speed up the on/off transients and facilitate 'LPPLQJFRQWURO PWM_in
high-resolution PWM dimming. Closed-loop current regulation )3*$PRGXOH
performance and PWM dimming are verified by averaged circuit
simulations including a Spice model of the planar integrated
Figure 1: Digitally controlled automotive LED
magnetics structure extracted by a 3D FEM tool. The controller
is implemented digitally and experimental results are presented driver based on a high-frequency ZVS integrated
for a 0.5 A, 3-40 V prototype operating at 2 MHz. magnetics Ćuk converter.

The integrated magnetics Ćuk converter provides buck and

I. I NTRODUCTION boost capabilities as well as inherent input and output current
filtering. An integrated magnetics structure can be designed
Light-emitting diode (LED)-based approaches are rapidly
to minimize input and output current ripples [10]–[20]. In
replacing conventional lighting solutions in automotive appli-
combination with desirable operation at relatively high fre-
cations as they offer longer lifetime, lower power consumption,
quency (above the AM band), this reduces the internal energy
and additional flexibility and functionality [1]–[11]. Depend-
storage and improves the converter’s dynamic performance. A
ing on the specific lighting application, the number of series-
power stage design of a zero-voltage swithcing (ZVS) planar
connected LEDs can typically be between 1 and 12. As a
integrated magnetics Ćuk converter has been described in [10].
result, the output voltage range is between about 3 V and about
The controller design for this power stage is challenging, be-
40 V. The dc-dc LED driver must therefore have buck and
cause of the relatively complex high-order dynamic responses
boost capabilities and must be designed to operate over wide
of the integrated-magnetics Ćuk converter, the need to achieve
ranges of output and input voltages. Pulse-width modulation
precise output current regulation over wide output voltage
of the output current, known as PWM dimming, is commonly
range, and the need to facilitate fast turn on and turn off of
used to control the brightness. Ideally, fast converter turn on
the output current with minimum overshoots.
and turn off transitions are required to achieve high resolution
PWM dimming at the rate of 200 Hz to 1 kHz, to avoid flicker. This paper is focused on closed-loop control of the ZVS
To meet fast turn-on and turn-off times without auxiliary planar integrated magnetics Ćuk converter shown in Fig. 1
switching circuits or linear regulators, it is advantageous to [10]. Similar to its conventional counterpart, the integrated
minimize the energy storage in the converter. magnetics Ćuk converter has non-minimum phase dynamics

‹,(((
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 [21]. Furthermore, the magnetizing inductance adds additional
iin iL,out
conjugate poles and zeros to the converter’s transfer functions
[22], so the converter in Fig. 1 is a sixth-order system.
ILED
To evaluate the system dynamics, an averaged Spice model vs1 ip 3RUW=
PDWUL[
is vs2

is developed including a model of the integrated magnetics Cb1 )URP'

)(0WRRO
Cb2
N
extracted by Ansys Q3D FEM tool [10]. Analytically, it is VIN Rc Cout VOUT
/('V
found that the duty-cycle-to-output-current transfer function T1

exhibits a low-frequency gain that has weak dependence on

the output voltage. This property is used to facilitate simple $YHUDJHGVZLWFKHGPRGHO

compensator design that results in relatively consistent regu-

lation performance regardless of the number of LEDs. PWM
dimming is performed by turning-on and off the converter. The
controller is implemented digitally, and experimental results d

are presented.
The paper is organized as follows. Section II presents Figure 2: Simulation setup using Spice averaged
the small signal modeling approach, and controller design, circuit model of the converter.
together with simulation results. PWM dimming and fast turn-
on and turn-off strategies are discussed in Section III. Digital
implementation of the controller and experimental results are
presented in Section IV. Section V concludes the paper.
II. C ONVERTER DYNAMICS AND C ONTROLLER D ESIGN
The nature of the small-signal dynamics of the converter
shown in Fig. 1 can be examined by Spice ac simulations
using an averaged circuit model of the power stage [23], and
a Spice model of the integrated magnetics extracted using a
3D FEM tool, as described in [10].
A. Small signal modeling of the integrated magnetics Ćuk
converter
A Spice implementation of the averaged switched model
described in [23] is used to obtain small-signal dynamics and,
in particular, the duty-cycle-to-output-inductor-current transfer
function
îL,out (s) Figure 3: Duty-cycle to output inductor current
Gid (s) = . (1) i (s)
ˆ
d(s) transfer function Gid (s) = L,out
d(s) for VIN =
12 V, VOU T = 3 V-to-40 V (N = 1-to-12) and
Since the converter has a very small output capacitor, the output current ILED = 0.5A.
output inductor current is essentially equal to the LED current,
and is hence utilized as the control objective. The simulation transfer function remains approximately constant regardless of
setup is shown in Fig. 2. The converter’s switch network changes in the output voltage. To investigate this property of
(comprising transistors Q1 and Q2 in Fig. 1), is replaced the transfer function analytically, a small signal model of the
by the averaged switch model, and the magnetic components standard Ćuk converter (without the integrated magnetics) is
(Lin , Lout and the transformer) are represented by the Spice considered and solved for low-frequency duty-cycle-to-output-
model of the integrated magnetics structure. An additional current gain Gid,0 The duty-cycle-to-output-inductor-current
resistor Rc is introduced in parallel with the transformer’s transfer function of the standard Ćuk converter is given by:
input port to model its core loss [10]. Using .ac simulation
s2
in the Spice environment, the converter duty-cycle-to-output- Gid0 (1 − Qz wz + wz2 )
s
Gid (s) = s2
, (2)
inductor-current transfer function, as expressed in (1), is found (1 + Qp wp + wp2 )(1 + w )
s s
p2
for VIN = 12 V, VOU T = 3 V-to-40 V (N = 1-to-12) and output
current ILED = 0.5 A. The results are shown in Fig. 3. As can where the low frequency gain is:
be seen from the magnitude plot, the transfer function includes DD Vc + D2 V c
a low-frequency pole located around 10 kHz, multiple high- Gid0 = , (3)
D2 VILED
OU T
frequency poles and zeros due to the magnetizing inductance
of the transformer [22], and a right-half plane zero at a very and Vc = VIN + VOU T . Simplifying (3) results in:
high frequency (> 200 kHz). One may note that the low ILED
frequency gain of the duty-cycle-to-output-inductor-current Gid,0 = . (4)
DD

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 iin iL,out


vs1 ip 3RUW= is vs2 ILED

'&JDLQ *LG  PDWUL[
Cb1 )URP' Cb2
)(0WRRO
N VOUT
VIN
 Rc Cout
/('V

T1


$YHUDJHGVZLWFKHGPRGHO


   
'XW\F\FOH>@
TV
d
C1
Figure 4: DC gain versus steady-state duty cycle,
3:0JDLQEORFN
D. vc
R1

90
vref
$& Rf iL,out
A plot of the low-frequency gain as a function of steady-state
duty cycle D is shown in Fig. 4. As the duty cycle D varies &RQWUROOHU
from 20% to 80%, representing the corresponding variation in
the converter output voltage, the low frequency gain changes Figure 5: Setup to obtain the converter loop gain
only by about 4 dB, consistent with the frequency responses using Spice .AC simulation.
obtained by ac simulations of the averaged circuit model.

B. Compensator design
Based on the analytical result for the low-frequency gain,
and the detailed Spice model presented in the previous section, &URVVRYHUIUHTXHQF\IF N+]
a closed loop controller is developed to regulate the output
current of the integrated magnetics Ćuk converter as shown in
Fig. 5. The output inductor current is sensed and compared
with a current reference, and the error is processed by an
integral compensator. The output of the compensator is fed
into a pulse-width modulator (PWM), which provides the
modulated duty cycles for the two transistors, Q1 and Q2 . As
3KDVHPDUJLQ R
can be seen from Fig. 5, a test signal source is inserted at the
compensator output to measure the loop gain of the system.
The Spice-simulated loop gain is plotted for various numbers
of LEDs in Fig. 6. The loop gain has a crossover frequency
of around 15 kHz, below the resonant poles and zeros of the
open loop transfer function shown in Fig. 3, while providing
a phase margin of φ =57o at the worst-case operating point
(VOU T = 40 V, corresponding to number of LEDs N = 12.
At this load, the phase of the open loop transfer function Figure 6: The converter loop gain for VIN =
is the lowest, as shown in Fig. 3. The compensator design 12 V, VOU T = 3 V-to-40 V (N = 1-to-12) and
leads to a fast transient response with minimal overshoot in output current ILED = 0.5A.
the LED current. Furthermore, as discussed in the previous
section, since the low frequency gain of the open loop transfer the converter switching frequency, but high enough to avoid
function varies over a relatively narrow range in response to flickering. The converter is turned on when PWMin signal is
changes in the number of LEDs, the crossover frequency also high, and turned off when it is low. When the signal goes high,
remains approximately constant. the gate drivers are enabled and the compensator reference
input is set to Vref = Rf Iref . Conversely, when PWMin
III. D IMMING BY P ULSE -W IDTH M ODULATION goes low, the gate drivers are disabled and consequently the
PWM dimming functionality is added to the feedback con- converter is shut down. At this time, the compensator reference
troller by introducing a new control input, PWMin , as shown input is set to zero and the converter’s output voltage drops
in Fig. 7. PWMin is a pulsating signal with a duty cycle corre- from its steady state value. This prevents any overshoots from
sponding to the required LED brightness. The frequency of the occurring in the LED current in the next PWM dimming
pulses is typically in the 200 Hz to 1 kHz range, well below cycle when the PWMin signal goes high again. A transient

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 Figure 7: The simulation setup to perform PWM
dimming.
Spice simulation is performed to evaluate this PWM dimming
operation. The LED current time-aligned with the PWMin
signal is shown in Fig. 8. A zoomed-in version of Fig. 8 is
Figure 8: The LED’s current response to a
100 mA (400 mA-to-500 mA) change in the
reference current using the subcircuit models of
the switching devices for VIN = 12 V, VOU T =
3 V-to-50 V (N = 1-to-12).
shown in Figs. 9(a) and 9(b), respectively, to highlight the turn-
off and turn-on transients of the LED current. The turn-off time
of the LED current is longest when the number of LEDs N
is maximum, with a fall time of approximately tof f ≈ 40 μs.
Similarly, the turn-on time is also longest for the maximum
number of LEDs, ton ≈ 40 μs. Strategies considered to
speed-up the turn-off and turn-on times are described in the
remainder of this section.
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Figure 9: PWM dimming performance in LED’s
current (a) zoomed-in turn-off transition and (b)
zoomed-in turn-on transition .
A. Turn-off strategy
In this sub-section, a turn-off strategy is proposed to shorten
the turn-off time. The strategy consists of the following steps:
• During the on-time, the steady state value of the duty
cycle command is sampled.
• When the PWMin signal goes low, instead of completely
turning off the converter, the converter duty cycle is set
to a fraction (e.g. 90%) of its steady state value to reverse
the power flow and to actively discharge the converter’s
output capacitor. In response, the LED current decays at a
fast rate, and reaches zero when the output voltage falls
below the combined forward voltage drop of the LED
string.
• The converter is turned off when the LED current reaches
zero.
A circuit implementation of the proposed turn-off strategy is
shown in Fig. 10. The steady state duty cycle command is
sampled and held by the capacitor Chold . As the PWM in
signal goes low, the reference input of the compensator is
set to zero. At the same time, a switch disconnects the
compensator and supplies the PWM modulator with a fraction
of the previously sampled steady state dutycycle command.
The fraction (e.g. 90%), is set by the voltage divider consisting
of R2 and R3 . A comparator monitors the LEDs current and
disables the gate drivers once the LEDs current falls below
ILED,of f . After that, both gate drivers are set to zero, and the
converter is shut down.
Turn-off time transitions of the LED currents with and
without the turn-off strategy are overlaid in Fig. 11. It can be
seen that with the proposed turn-off technique, the fall time
 • When the LED current reaches its steady-state value, the
iin iL,out
duty cycle command vc is sampled and stored to be used
during turn-off transient, as described in the previous
3RUW= is IOUT
vs1 ip
PDWUL[
vs2 subsection.
Cb1 )URP' Cb2
)(0WRRO
N
Fig. 12 shows a circuit implementation of the turn-on strategy.
VIN c1 Q1 Rc c2 Q2 Cout VOUT
/('V As the PWM in signal goes high, the PWM modulator input
T1
is connected to the voltage across capacitor Chold . As a
Gate Gate
result, the converter starts operating with duty cycle close to
driver driver
the previously stored value, the output capacitor is charged
C1
up quickly, and the output LED current starts increasing.
PWM_in
Once the LED current approaches its steady state reference
3:0  vc
R1
value ILED,ss , closed-loop current regulation resumes as the
90 
compensator output is reconnected to the PWM modulator
Rf iL,out ILED, off
and the reference vref is applied to the compensator reference
 
input.
vref While the controller implementation is in this section de-
R2 Chold scribed in terms of analog circuits, and verified using ana-
R3
log Spice circuit simulations, the controller is implemented
digitally in an experimental prototype described in the next
section.
Figure 10: Implementation of the proposed turn-
off strategy. iin iL,out

of the LED current is reduced by about 80% (from 39.8μs

3RUW= is IOUT
to 6.6μs) for VIN = 12 V and the worst-case output VOU T = vs1 ip
PDWUL[
vs2
Cb1 )URP' Cb2
40 V (N = 12). )(0WRRO
VIN c1 Q1 c2 Q2 Cout
N
Rc VOUT
/('V

T1

Gate Gate
driver driver

C1
PWM_in

R1
3:0 
vc
90 
Rf iL,out ILED, SS

 
Figure 11: Turn-off transition with and without vref
the proposed turn-off strategy. Chold

Figure 12: Implementation of the proposed turn-

B. Turn-on strategy on strategy.
In order to shorten the turn-on transition time, the following
procedure is proposed: Turn-on transitions of the LED current with and without the
• When the converter is turned off, the output of the com- turn-on strategy are shown in Fig. 13. As shown in Fig. 13(a),
pensator is held to a value slightly below its steady state the turn-on time is reduced by around 40% (4.4 μs to 2.2 μs)
value, and the controller output vc is disconnected from for VIN = 12 V, VOU T = 3 V (N = 1). Figure 13(b) shows
the controller switching-frequency pulse-width modula- that the turn-on time is reduced by around 30% (38.0 μs to
tor. 25.6 μs) for VIN = 12 V, VOU T = 40 V (N = 12).
• When the PWMin signal goes high, the converter is
commanded with the steady-state value of the duty cycle. IV. E XPERIMENTAL R ESULTS
In response, the LED current ramps up at a fast rate. A feedback controller with PWM dimming functionality
• When the current reaches the vicinity of its steady state utilizing the proposed compensator design and turn-off and
value, the compensator is re-connected to the switching- turn-on strategies is digitally implemented and applied to
frequency pulse-width modulator and the current regula- a 2-MHz ZVS planar integrated magnetics Ćuk converter
tion loop is re-established. prototype. The converter, along with the digital controller, is

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 Figure 13: Tun-on transition with and without the proposed turn-on strategy for for VIN = 12 V, ILED = 0.5 A
(a) VOU T = 3 V (N = 1) and (b) VOU T = 40 V (N = 12).
Figure 14: LED current response to a 250 mA
step change in the reference current is shown for
VIN = 12 V, VOU T = 40 V (N = 12).
shown in Fig. 1. An Altera Stratix IV FPGA is used to provide
high-resolution switching PWM duty cycle signals. The PWM
dimming signal, PWMin , is provided using a signal generator
and the current reference Iref is set thorough an interface
command to the FPGA console. The output inductor current,
iL,out , is sensed using a sense resistor Rf . The sensed current
is fed into a preamplifier and preconditioned using a low
pass filter with a cut-off frequency set to 1 MHz to attenuate
switching noise. A 12-bit differential ADC with a sampling
frequency of 50 MHz is used to sample the sensed and filtered
current. The sampled current is transfered into the FPGA using
GPIO ports. The integral compensator is written in VHDL and
implemented on the FPGA. A digital pulse-width modulator
provides two separate control signals, which are used by the
converter gate drivers to generate the two gate control signals
c1 (t) and c2 (t), corresponding to the two transistors Q1 and
Q2 , respectively. The LED current response to a 250 mA step
change in the reference current is measured and shown for
VIN = 12 V, VOU T = 40 V (N = 12) in Fig. 14. It can be
seen that the LED current rises without any overshoot.
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Measured PWM dimming performance for a dimming fre-
quency fdim = 1 kHz and for two dimming duty cycles,
Ddim = 20% and Ddim = 80%, is shown in Fig. 15(a) and
Fig. 15(b), respectively. Turn-on and turn-off transitions of the
LED current are shown in Fig. 16 for two example operating
points. It can be observed from Fig. 16(a) that at VIN = 12 V
and VOU T = 40 V (N = 11), the LED current rises from 0
to 0.5 A in 35 μs. In Fig. 16(b), it is shown that at VIN =
12 V and VOU T = 15 V (N = 5), the LED current drops
from its steady state value, 0.5 A, to 0 in less than 4 μs. The
experimental results are consistent with the simulation results.
V. C ONCLUSIONS
This paper describes output current regulation and PWM
dimming for a high-frequency ZVS planar integrated magnet-
ics Ćuk converter for automotive LED driver applications. The
converter’s small-signal dynamics are analyzed using Spice
simulations comprising a 3D-FEM based model of the inte-
grated magnetics and an averaged-switch model of the power
converter. Based on the Spice-simulated duty-cycle-to-output-
inductor-current transfer function, the loop gain of the system
is obtained. Given that the low-frequency open-loop gain is
relatively independent of the output voltage, a simple integral
compensator is designed to achieve a consistent closed-loop
bandwidth of approximately 15 kHz and a worst-case phase
margin of 57o over a wide range of output voltages (3 V to
40 V). The control architecture is enhanced to include fast
PWM dimming functionality. The proposed turn-off strategy
reduces the fall time of the LED current by around 80%, while
the turn-on strategy reduces the rise time by around 40%
compared to standard turn-on/off techniques. The controller
and the turn-off and turn-on schemes are implemented in a
digital fashion using an FPGA. Experimental results on the
2 MHz, 30 W, 0.5 A prototype demonstrate regulation of the
 Figure 15: PWM dimming performance for a dimming frequency fdim = 1 kHz and dimming duty cycle (a)
Ddim = 20% and (b) Ddim = 80%. VIN = 12 V, VOU T = 40 V (N = 12), ILED = 0.5 A.

Figure 16: Turn-on and turn-off transitions: (a) turn-on transition for VIN = 12 V, VOU T = 40 V (N = 11) and
(b) turn-off transition for VIN = 12 V, VOU T = 15 V (N = 5).

LED current, no overshoots in transient responses, as well as
fast turn-on and turn-off dimming performance.
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