Chapter 6 Closed Loop Control of Power Converters 6.1 Introduction We have seen the objective of obtaining constant de output voltage from the converter is achieved through the closed loop control of the output i.e. constant duty ratio is automatically adjusted in order to obtain the desired output voltage. In the last chapter we had seen the basic theory of linear dynamics and the principles of closed loop control (16). In this chapter the control requirements of the de-de converter are stated and are related to the frequency domain performance indices such as the loop gain, cross-over frequency, de loop-gain, phase margin of the loop gain and so on. The closed loop controller design is briefly outlined and then demonstrated through the example of a boost converter. The control specification of the converter will be in two parts «© Steady state accuracy # Settling time and allowed transient overshoot in the event of disturbances or command changes. The steady state error is related to the loop gain T’ of the closed loop at de The steady state error is approximately 1/T(0). For example, a loop gain at dc T(0) of 100 will result in a steady state error of about 1%. The settling time and transient overshoot are related to the 0 dB crossover frequency of the loop gain and the phase margin. If w, is the 0 dB crossover frequency of the loop gain, then the settling time (for a stable system) will be about to180 Closed Loop Control of Power Converters 3/w, to 4/w, seconds. The approximate transient overshoot is related to the phase margin (¢~) of the loop gain according to the Table 1 For acceptable ‘Table 6.1 Phase Margin (Degree) | 30° I] a? 150 “Transient Overshoot (%) | 37% | 30% | 25% | 16% | 9% | 5% [1% transient overshoot, the phase margin may be taken as 45°. The first design step in closed loop controller design is to convert the control specification to the following # Desired T(0) [to meet the steady state error] # Desired we [to meet the settling time] © Desired phase margin @m [to meet the transient overshoot] 6.2.2, Compensator Structure XP] 8) =| Hy(s) md Figure 6.1: Structure of the Closed Loop Controller ‘The requirement in the design of a closed loop controller is to identify and design a compensator H(s) such that the loop gain T(s) [G(s)H(s)] satisfies the above requirements. The structure of the closed loop controller H(s) is shown in Fig.1. ‘The blocks H(s) and Ha(s) are the cascaded stages of the compensator. ‘The closed loop compensator design is considered in [H(s H,(s)Ha(s)] two parts. The first stage H;(s) of the compensator achieves the desired bandwidth w. and the desired phase margin dm, and the second stage is designed to meet the desired steady state error. 6.2.3 Design of Compensator ‘The important rule that is used here is that, if|theloop|gain|(erosses)0°B (unity gain) with a single slope (-20dB/decade), then the closed loop system ‘The reason is that the phase gain of a function crossing 0 dB with a single slope at a frequency of w. is approximately the same as the function K/w,(8) and is equal to —90°, This argument is valid only when the Joop gain is a minimum phase function, The actual phase angle will depend6.2 Closed Loop Control 1s on the poles and zeroes nearest to the crossover frequency. With the above simple rule in mind, the compensator function H(s) is selected to be simple lead-lag compensator. 1+ (6.1) The purpose of is to make the slope of crossover section of the loop gain to -20 dB/decade near the desired crossover frequency, and to improve the phase margin. # If G(s) is a first order system in the vicinity of w,, then Hy may be just Ky ‘# If G(s) is a second order system in the vicinity of w,, then select wer and wp such that w.1 < We < wt * If G(s) is a second order system with a complex pole pair w, then w21 may be taken as w,. wp: is usually as ten times w ‘© Now AG; may be selected to meet the requirements of w, and dn. The next part of the compensator H,(s) is needed to meet the steady state (Gor specification. 1f G(0) H,(0) is already compatible with the steady state error, then Ha(s) is 1. However, if G(0)H,(0) is not compatible with the desired steady state error, H(s) is different from unity. The conditions on Ha(s) are + G(O)Hi(0}H2(0) = 710) * H,(s) must not affect the gain & phase margin already designed. Or in the other words, phase and magnitude gain of H(s) in the vicinity of w. must be 0° and 0dB respectively. s 1+— * API controller of the form Ho(s) = —® satisfies the above require- oa ments, The overall compensator is WS 1+ (3) = A 4 (6.2) Se on oa and can be realized using operational amplifiers (as shown in the example)182 Closed Loop Control of Power Converters 6.2.4 A Simple Design Example The design method is illustrated for the following example. Boost Converter: V, = 15V;R = 1009; R = 050; C = 150pF;L = 2mH;Ts = 80 nS;D = 03; Design Specifications 1. Steady state error less than 1%. 2. Bandwidi fh to be greater than 1000Hz (6280 rad/sec) 3. Phase margin to be better than 45° The open loop control transfer function of the converter is (0-2)(0+2) Je l+—+5 ar we => 205 Hz; w, => 3800 Hz; w. > 2100 Hz; ‘The open loop control transfer function of the converter is plotted in Fig.2 as) 7 a ” oo S me g s . a ° —__] » _ Frequency ing He) Figure 6.2: Magnitude and Phase Plot of the Open Loop ‘Transfer Function It may be noticed that the OdB crossover frequency is about 2000 rad/sec, & the phase margin with unity feedback is about 5°. ‘The de gain of 28 leads to steady state error with unity feedback of about 4%, To meet the given specifications therefore a compensator has to be added. As a first step in the design of compensator, we select H;(s) (to meet bandwidth & phase margin) as follows6.2 Closed Loop Control 183 ining Phase in degree Cain) vs Feequeney Phage vs Feeney - ° 2 2 Frequency in og (Hz) Figure 6.3: Gain and Phase with the First Part of the Compensator 1 Hy(s) = ——R8ao (6.4) is 12880.0 Notice that the compensating zero is taken as the same as w,. The Bode = » > ° o of ° 10 2 Saad Giin(dB) vs Frequency 10 ° 2 2 4 5 Frequency in og Hz) Figure 6.4: Gain and Phase with the Second Part of the Compensator plot of G(s)Hi(s) is plotted in Fig.3. It is seen that the phase has improved The 0 dB crossover may now be set near 1000Hz by selecting K’, equal to 0.2. The loop gain of is plotted in Fig.4 for this new. Tt is seen that for this new the 0 dB crossover frequency is about 7000 rad/sec, and the phase margin is more than 55°. The first part of the design is complete. With H,(s) as a compensator both bandwidth and phase margin requirements are met. Notice1s Closed Loop Control of Power Converters also that the de gain is only about 5 (15 dB). Therefore to meet the steady state error specification we chose PI controller of the form Ths) 22 (700) is chosen much less than w,. The loop gain of G(s)H;(s)H2(s) so inn oB 8 “0 sig a) vs Frequency Phases Feeney 1 2 a 4 5 Frequency in log 2) Figure 6.5: Gain and Phase Plot of the Loop Gain Figure 6.6: Circuit Realisation of the Compensator is shown in Fig. 5. Figure 6 shows a circuit realisation of the closed loop compensator incorporating, Hy(s), Ha(s), and K; 6.3 Closed Loop Performance Functions We have seen a number of performance figures of the converter under open loop namely6.3 Closed Loop Performance Functions 18: F : Audio Susceptibility; Yin : Input Admittance Z, : Output Impedance When a closed loop compensator is added to the converter the overall structure Converter Figure 6.7: Converter Under Closed Loop Operation of the converter changes as shown in Fig, 7 and as a result some of these performance figures also change. Under closed loop operation, feedback gain is —h(s) d= -ha, (6.6) With the above constraint, we find out the following closed loop performance figures. 6.3.1 Audio Susceptibility = 0; d = -hi,) =At+ bs + fd (6.7) 8 = (um ~m)Xd+ qe (68) d=-hé (6.9) , 5 ; 4 ; = ) =—— 1 __, 6.10) B= h(n ~ a) X% bat = ays.) Substituting the result of Bq. (10) in Eq. (7), we get . . hg[st — Alf & =(sI- A) bi, - é (6.11) ra) T+ ha — @)X wn 4 -t po hg [st — Al" f = q(sI— A) 5, - HRA A (6.12) gé = g yo" bay - Mn aX (6.12) ge 2) X + ha(sl ~ A) fat 6 = q(sl-A) "bi, (6.13) +h(q ~ a) X186 Closed Loop Control of Power Converters a +hGt, = Fe, (6.14) (6.15) Yi, —hi.) = (pi—p)Xd + pe (6.16) — h(p; —m)X8, — hp(sl — A) fo, (6.17) . FE Y, AGF = - _— in = Yin — Ge Yn ~ AGip (6.18) 1 Yin T_ (Gk , % Ter a(S ~ Ye) (6.19) 6.3.3 Output Impedance = WO, = 05d = ~ne) i.(s) A+ fdtmi, (6.20) by = (m -m)Xd+ qe (6.21) & = (s1— A)" fd + (sf — Ay mi, (6.22) It is left as an exercise to simplify the above to obtain the following result, 1 _ Zo . = (6.23) Closed loop operation is seen to be advantageous for the following reasons. * Audio Susceptibility is reduced by a factor of (1+T). ‘* Output Impedance falls by a factor of (1+T) * Input Admittance falls nearly by a factor of (1+T). # But one cause of concem is that the input admittance (under closed loop operation) for de is negative6.4 Effect of Input Filter on the Converter Performance 1s7 We had seen the design of the closed loop controller for a duty cycle controlled switched mode power converter in this section based on a few simple rules applied to the control gain of the open loop converter. It is also seen that such a closed loop compensator also improves the audio susceptibility and the output impedance of the converter. (The negative inipait impedanice of the converter can lead to instability of the converter when it is connected to a Source with finite source impedance, The design guidelines to overcome such problems are covered in the following sections. 6.4 Effect of Input Filter on the Converter Performance We have already seen that the following are the performance figures of the converter (with the defined notations) under open loop. Audio Susceptibility: F = q(sl-Ay tb Input Admittance: Y, = p(sl—A)16 Output Impedance: Z, = q(sf— A) m Control Voltage Gain: Gy = (m—m)X + g(sl— Ay sf Control Current Gain: Gi; = (i=pd)X + p(t AS Circuit Averaged Voltage Source: v0) = & Circuit Averaged Current Source: J(s) = Ge - Ye With a feedback compensator h(s), we have also seen that the loopgain T iT = Gh], and the converter performance figures are affected in the follow- ing way. Loop gain: T= Gh Audio Susceptibility; F Par Input Admittance: Xi Yo T7 Output Impedance: mg Zo= ° 14T Control Voltage gain:188 Closed Loop Control of Power Converters Control Current gai G=aG Circuit Averaged Voltage Source: G, U(s) = Circuit Averaged Current Source: Is) = G -%S In the presence of input filter, some of the performance figures undergo a change. If we know how the performance figures are affected by the perfor mance of the input filter, we may develop suitable design criterion for the input 1. Extra element theorem (Appendix B) may be applied for this purpose. In the presence of the input filter, let the loop gain, audio susceptibility, input admittance, output impedance, control voltage gain, control current gain all be altered as follows. Loop gain with input filter: 7 Andio Susceptibility with input filter: F” Input Admittance with input filter: Y;" Output Impedance with input filter: 2) Control Voltage gain: Gy Control Current gain: Gy The set up is shown in Fig. 8 (source V, with the source impedance Z,). Tt is Gy Converter Ai Figure 6.8: Converter with Source with Impedance set up as per the extra element theorem given in Appendix B, with the second input and the second output defined as uj and uce respectively. The duty ratio input is also shown in Fig. 8 as d. 1. Efe on Audio Susceptibility = Eleaz 7 Ee 14 2.¥n (%=0) 1+ Me6.4 Effect of Input Filter on the Converter Performance 139 Ma y= [te oa) (8, = Null)“ ea! (6 = 0) (2) = A@ + bun +e) + fd Yn = (m-a)Xd + 92 9 = tin = (P—p)Xd + pe Ya =0 (sI — A)" "bites + p(sI — A)“ fd ua = (pr —p)Xd-+p(sf — Aug + p(s — Aya ue = Gid + Yitee ug = —Gihdy + Yiueo Ya= i Y= Yn 03d =0 (@ = Ak + b (uot by) 1+ Z¥o | (Z,=0) 1+ Z¥a190 3. Bffect on Output Impedat Yar Closed Loop Control of Power Converters = (m-a)Xd + 9% iy = up = (m—p)Xd + pé Osi 0 = (81 =A)"ruga + (91 = AS tug = (pr —P)Xd + p(s — A) bugs + p(st — A)“ fd tug = Gid + Yt ug = —Giht, + Vitter6.4 Effect of Input Filter on the Converter Performance 191 iy = ug = pé (2) = (81 = Ay Mien + (91 = A) mi qé = g(sl — A)~'bucg + g(sI — A)~'mi, = 0 : F wa Fun + Zi: = 0 > ip = Ze ug = pé = p(sl — A) "bug, + p(s — A)~!mi, _ p(st ~ A)"'mE Define Y Z Yn = % — Ye Z gl tev -¥) Z = Z, TZ. 4. Effect on Control Voltage Gain EF] d@-2) di, = x = (2) ; tea! iy = 0; % = 0 (=) \woa/ ig = 0; i, = 0; d (2) = A& + b(un+e,) + fd & = (m—@)Xd + ge (i p)Xd + pe & = (s1—A) thug tug = pls ~ A)""bua + Ya (2) = A+ buat fd 8 = (u~2)Xd + ge ua = (r—m)Xd + pit192 Closed Loop Control of Power Converters (@) = (sI- Ay tbua + + (sf - Ay'fd (1 —@)Xd + g(sI — A) Muy, + q(S1- A) tyd = 0 asl — A) "bu. = = (gi ~ 9X + (sf — AY) Fun Ge tug = (pr —pa)Xd + p(sl — A) bug, + p(st — A) fd Fug =~ Gud > d = = Gd4 5. Effect on Control Current, Gain Yar & = (sf — A) true tug = p(st — A)~Ybu => Ya = Yi6.5 Design Criteria For Selection of Input Filter 193, (@) = A& + bua t fd gé = q(sl — A) Mug +a(sl — A) fd 8 =(q —@)Xd + g(sl — A) bus + q(sl — A) fd Bo = Puen + God = Fren — Gyhio ug = iy =0;% =0 1 ~ OEE 6. Effect of Input Fill on Converter Functions Tay, 1 om 6.5 Design Criteria For Selection of Input Filter It may be seen from the denominators of the above expressions, it is necessary that <1; for stability. Notice that the second inequality is more stringent. Further 4 od S << 1,| Z| < 1 for loop gain to be unaffected s) 6.5.1 Design Example Consider the circuit shown in Fig.9. It consists of a simple buck converter supplied from a source through an LC filter. ‘The component values are as follows. Ry = 059; R, = 019; R = 200;L C = 19mF;D = 07 ; f, = 100kH2 The system matrices are 82 mH ;104, Closed Loop Control of Power Converters Figure 6.9: A Buck Converter Ry + RR R FRSE Define6.5 Design Criteria For Selection of Input Filter Input Admittance: Define D, = “4, D4sta/RC) Y= pst ~ Ay" = Dia_1+sCRia K = 32dB;Q + 7dB; w > 416 Hz; w, > 4072 Hz The bode plot of is shown in Fig.10. Consider the input filter shown in © 0 x» S an * NS ot 8 {/ 2 ea — o 8 » i ‘wo “0 aig) Fes s Phase vs Fequer 150 a ° > . rs : Frequency in og tt) Figure 6.10: The Input Impedance of the Buck Converter Figure 6.11: The Input Filter196 Closed Loop Control of Power Converters ” 0 a uprrseretereeeesetetteny, 0 2» 2» 0 te ” Zo 0 g 0 a — 20 en of get 40 fs" ain) 2s Fequensy —— “0 gor Gain 2a Feqeney —>— “0 “0 ° 2 3 4 5 Frequency in og Ha) Figure 6.12: The Criterion for Input Filter Design Fig. 11. (L, = 900 wll ; C, = 50 uF ; Ry = 6 9). ‘The input impedance of the input filter is, sh, she Ry sie s Qu. w, > 116 Hz 5a, > 750 Hz; Q, > 3dB; The plot of the source impedance is shown in Fig. 12. It may be seen that in the the entire frequency range, the inequality Z,/Z; is satisfied ensuring stability. There are several controller ICs available in the market. Some of the com: mercially available controller ICs are given in the following links. Advanced pulsewidth modulator Advanced pulsewidth modulator Voltage mode PWM controller General purpose PWM controller6.6 Problem Set, 197 6.6 Problem Set 1. The following compensator is required for the closed loop control of a converter. Les! h(s) = 0.52 wy > 1000Hz; w, > 20000Hz 1+ s/w, The circuit shown in Fig. P1 realizes the compensator. ‘The opamp used 0.5: L sed Loop Compensator Fig. P 6.1: Ck is A741 which has a transfer function of L A(s) = 10° (s) Ty sfu If the phase error of the compensator is not to exceed 15° compared to ideal realization, estimate the range of frequencies in which the above compensator may be used. Hint: Use graphical method w > 10H 2. Consider the converter shown in Fig. 2 operating at a duty ratio of around 0.5 in CCM. It is desired to design an input RC filter for the converter as shown in the Fig. 2. Evaluate the values of Ry and C, such that the converter is immune to input filter induced oscillations. Comment on the consequences of the input filter on the operation of the converter. Hint: Use Graphical Method. Fig. P 6.2: Flyback Converter with Input Filter 3. It is desired to design a compensator with the transfer function H(s) for a converter,198 Closed Loop Control of Power Converters 20 dB/decade % @ ogi f Fig. P 6.4: A Lead Lag Compensation 1+ 8/2600 ‘3/2 /pi600 Design the compensator circuit using the ideal opamp. H(s) = -2 4, Is it possible to obtain the gain shown in Fig. (4b) with the circuit shown in Fig. (4a) 5. Figure 5 shows a PI controller and its asymptotic magnitude bode plot. Select Ri, Ro, and C. ewww B His) 20 dB/decade tooHz 810 f Fig. P 6.5: A PI Compensator 6. A closed loop controlled converter has a bandwidth of 100Iz and a phase margin of 90°. Estimate the transient settling time for the converter 7. Table P7 shows the control of output (3/d) frequency response of a fly back converter obtained through actual measurement. The frequency: gain table is given below. (A) Write down the approximate control transfer function of the con- verter. (B) Design a suitable feed back controller for this converter to realise a bandwidth above 750 Hz and steady-state accuracy above 99%.6.6 Problem Set, 199 ‘Table_P 6.7: Frequency Response Measurements SINo. | Frequeney (Hz) | Gain (dB) T 20 18 2 0 18 3 60 21 a 80 2 5 100 16.5 6 200, a 7 100 7 s 600 =125 a 000 20, 10 2000 28 i F000 =35. 8, Fig. 8 shows the block diagram of a closed loop controlled converter. The converter has a transfer function of 40 1424 1007 © (1007)? ‘The compensator has a transfer function of G(s) = (ae) v >( Hos) Gis) Fig. P 6.8: A Closed Loop Controller (A) Sketch the asymptotic gain bode plot of G(s) (B) Sketch the asymptotic gain bode plot of H(s) (C) Sketch the asymptotic gain bode plot of G(s)H(s) (D) Will the closed loop control be stable? (B) What is the phase margin of the controller? (F) What is the closed loop bandwidth of the controller?200 Closed Loop Control of Power Converters (G) What is the steady state error (%) of the controller? 9, Fig. 9 shows the block diagram of a closed loop controlled converter. converter has a transfer function of Y< Fig. P 6.9: A Closed Loop Controller symptotic gain bode plot of G(s) (A) Sketch the (B) (C) Sketch the asymptotic gain bode plot of G(s)H(s) (D) ¢ Sketch the asymptotic gain bode plot of H(s) Will the closed loop control be stable? (E) What is the phase margin of the controller? F) ) ) ) (F) What is the ) closed loop bandwidth of the controller? ‘What is the (G steady state error (%) of the controller? 10. An SMP has open loop audio susceptibility (F) transfer funetion with parameters (de gain = 0.1; a complex pole pair with a Q of 5 at 150 Hz). ‘The converter has a closed loop controller with a bandwidth of 1500 Hz (T = 20007/'s) (A) Sketch the asymptotic bode plot (magnitude plot only) of audio sus ceptibility: (B) Sketch the asymptotic loop gain (magnitude plot only) of the con- troller, (C) Sketch the closed loop audio-susceptibility (magnitude plot only) of the converter.6.6 Problem Set, 201 (D) Write down the gain provided by the converter for 300 Hz ripple at input both in magnitude and phase. 11. A boost converter operating in discontinuous conduetion has an open loop gain of For closed loop control a PI controller is chosen, ‘The closed loop band- width required is 5000 rad/sec. St better dy state accuracy required is than 1%. Design a suitable compensator and give its normalized transfer function. 12. The push pull converter shown in Fig.12 is operated in current control mode. The control transfer function for the converter is as follows. ‘Modulator His) Fig. P 6.12: A Pusk-Pull Converter (A) Design a closed loop controller H(s) in order to obtain a bandwidth of 20001z and a steady state accuracy of better than 1% (B) Express H(s) as a normalized function. (C) Show an analogue circuit realization of H(s) 13. Figure 13a shows the boost converter. Figure 13b gives the small signal linear model of the same. You may verify that the small signal audio susceptibility gain is given by202 Closed Loop Control of Power Converters R (8) (—D\R¥sL,) tem (1— Dy Figure 1c gives the same circuit with an additional capacitor with ESR 6 L L 4, L 4, S5O—e ° A a R. t % | ‘, R c R ER (I-Dy:L (a) b) () Fig. P 6.13: A Boost Converter (C-+R.) connected across the load. Apply the extra clement theorem and evaluate the corrected audio susceptibility function with the new elements in the circuit 14. A switched mode converter has an input (Z) impedance given by the following function, 2 1+ + To00r ” (B00n) a Figure 14 shows the input filter employed with the source for this con- Z,= 10 ‘MPS Converter Fig. P 6.14: Converter with Input Filter verter (A) Plot the input impedance of the SMPS converter in the form of a bode plot and mark the salient features of the function Z, (B) Apply the appropriate design criteria and evaluate L, C, and R of the source filter.