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Converter
Subhash Chander, Student Member, IEEE, Pramod Agarwal, Member, IEEE, and Indra Gupta
Department of Electrical Engineering,
Indian Institute of Technology, Roorkee-247667-INDIA
sub70dee@iitr.ernet.in, pramgfee@iitr.ernet.in, indrafee@iitr.ernet.in
AbstractModeling and simulation generally form an integral of linear state equations. A number of equations must be
part of design process. The simulation tools are increasingly solved in sequence, for the transient analysis and control
important in the development of new system and their optimum design for converters and is therefore, difficult. The averaging
design. This paper presents design and simple method of technique provides a solution to this problem where a single
modeling DC-DC converter using MATLAB/Simulink. The non-
equation may be formed to describe the converter
linear parameters such as equivalent series resistance of the
inductor and capacitor and the threshold voltage of MOSFET approximately over a number of switching cycles by simply
switches are considered in the model. Similarly, the non-linear taking a linearly weighted average of the separate equations
effects such as S/H, quantization, delay, and saturation are for each switched configuration of the converter. The filtering
considered in the closed loop controller design and simulation. action by L-C presents a physical basis for using an average
The simulation results are given to support the design validation. model of the switch, which neglects its switching action while
preserving quantitative relationships between average values
Keywords- DC-DC Converter;PID Controller; Modeling and of voltages and currents at its terminals [2]. The average
simulation model provides much faster simulation and an additional
opportunity for small-signal analysis and control design using
I. INTRODUCTION MATLABs Control System Toolbox.
The Switched-mode dcdc converters are power electronic The computer simulation plays a vital role in the design and
systems that convert one level of electrical voltage into analysis of power electronic converters and their controllers
another level by switching action [1]. These converters are and it shorten the overall design process [5] .The package like
very popular because of their high efficiency and smaller size the MATLAB/Simulink [6] is a very useful environment for
[1]-[2], and therefore, are used extensively in personal design and simulation of switching converters. The system
computers, computer peripherals, communication, medical stability and transient behavior analysis can be performed using
these tools.In this paper, MATLAB/Simulink package is
electronics and adapters of consumer electronic devices to
chosen as software platforms for design and simulation of Buck
provide different level of dc voltages. Nowadays, even the on-
converter. The controller is designed, tested and simulation
board power supplies are distributed, where the regulated results are obtained using Simulink model of the converter
converters are used both as supply converters as well as loads topology.
[3]-[4].The widespread use of switched mode dcdc
converters in many electronic systems makes it necessary for
II. DESIGN OF BUCK CONVERTER
system design engineers to design and develop efficient and
reliable supplies according to demand. The mode of operation i.e., CCM or DCM is decided by the
Switching converters are in general, time-variant, non- inductor current .If the inductor current remains positive, the
linear dynamic systems. The non-linearities arise primarily dc-dc converter is said to operate in CCM [2].The buck
due to switching, power devices, and available passive converter of Fig.1 operates in CCM, the relationship between
components, such as inductors, and capacitors. As a result, the the input voltage (Vi) and the output voltage (VO) is given as:
conventional linear control techniques can not be directly d =V0 /Vi (1)
applied to analysis. Design of the feedback compensation Where, d=TON /TS is the duty-cycle, TS is the switching period
using linear control techniques, needs a dynamic model of the and TON is conducting time of the switch. The boundary
switching converter. The dynamic system should model the condition of CCM and DCM of the Buck converter is the
low frequency behavior of the system, but should neglect the critical value of the inductor LC and is given by [2]:
insignificant behavior at and beyond the switching frequency.
Therefore, modeling process should involve the approximation LC= (1-d)R/2.fS (2)
to neglect the high frequency phenomena. Where, R is the load resistance, and fS is the switching
The inherent switching operation of power electronic frequency. The selected inductance should be greater than LC
converters results in the circuit components being connected for CCM [2]. However, the inductor value determines the
together in periodically changing configurations. They magnitude of ripple current in the output capacitor as well as
represent different circuit configurations within each switching the load current at which the converter enters discontinuous
cycle. Each configuration has been described by a separate set mode. Normally, a ripple of less than 30% of the average
I would like to thanks Govt. College of Engg. & Technology, Jammu (J&K) ,
Higher Education Deptt. J&K Govt and QIP centre, IIT Roorkee for providing
me an opportunity in Ph.D programme at IIT Roorkee.
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B. Modeling of close loop controller resolution is VQ =15.6 mV, Hence the ADC gain is
Converter system requires a feedback to regulate the output Kadc=1/VQ=64. Let tadc is the conversion time of ADC then the
voltage. The feedback system must be designed so that the transfer function of ADC is given by:
output voltage is accurately regulated, and is insensitive to Gadc (s ) = K adc .e t adc (15)
disturbances in Vin or load current. In addition, the feedback
system must be stable, and provide good transient overshoot 3) DPWM model Gdpwm(s)
and settling properties.Fig.5 shows a closed loop of digitally The DPWM module gain Kdpwm is defined as
controlled buck converter, where the error signal Ve, which is
the difference between the output voltage VO, and the desired K dpwm = 1 n
(16)
reference voltage Vref, is minimized through the compensator, 2 1
which generates the duty cycle command to the Digital Pulse Where n is the resolution of selected DPWM, for 8-bit
Width Modulator (DPWM). The output of the controller is a resolution Kdpwm =1/255. Let d is the steady state duty cycle of
digital representation of the duty cycle, d[MSB,.,LSB]and the the power converter, TS is the switching period, tdpwm is the
DPWM processes this duty cycle command to create a driving delay time due to signal latch between DPWM and controller.
signal which controls the ON-time of the main switch, S in the Then the transfer function of DPWM is given by:
power stage.
s( d .TS + t dpwm ) (17)
G dpwm ( s ) = K dpwm .e
The plants model Gvd(s) is obtained as:
s( tadc + dTs +tdpwm )
Gsys = K adc K dpwm .Gvd .e (18)
The time delay associated with the ADC sampling, duty
calculation and DPWM duty ratio updating is normally taken
equals to switching period i.e Ts= (tadc+dTs+tdpwm). This
includes the sample and hold effect of both ADC and PWM.
Figure 5. Digitally controlled buck Converter
Gsys = K adc K dpwm .Gvd .e s( Ts ) (19)
The plants transfer function of (19) is used to design a PID
To study the behavior of converters closed loop, the controller.
linearized model of buck converter is needed. As shown in
Fig.5, the closed loop block diagram has four major modules: IV. DESIGN OF PID CONTROLLER
power stage, ADC, PID controller and DPWM. In the The performance of a closed loop converter is highly
linearized model shown in Fig.6, the transfer function for each influenced by controller parameters. The controller ensures
module is required, to determine the systems frequency stable operation of the converter. A PID controller is designed,
response. The plant model Gsys is obtained by multiplying the considering small-signal average model of the buck converter
individual transfer functions. [9].The digital redesign approach is selected for controller
design; as it requires minimal design in the discrete z-domain
[10].
An analog controller is first designed as if one were
building continuous time control system by ignoring the
effects of S/H associated with the ADC and the digital PWM
Figure 6. Linearized model of buck converter circuits. The analog controller is then converted to a discrete
time compensator by using pole-zero matching method. This
1) Power stage model Gvd(s) method produces simpler transfer functions in the z-domain
The Small signal control to output transfer function Gvd(s) of [10].It preserves the pole and zero locations of the analog
the buck converter shown in Fig 2, is given by [9] controller [11].The control law of discrete form of PID
Vi (s .rC .C + 1)
G (s ) =
vd compensator has the following forms:
R + rC R + rL L R + rL
s 2 LC + s rC .C + + rL .C +
d (n ) a + bz 1 + cz 2
R R R R G C (z ) = = (20)
e (n ) 1 z 1
(13)
With specified parameters, the Gvd (s) is given by: The corresponding difference equation for implementation,
which is utilized to calculate a new duty cycle, is given as:
1.175e 006.s + 5
Gvd (s ) = (14) d(n)=d(n-1)+a.e(n)+b.e(n-1)+c.e(n-2) (21)
5.654 e 010 s 2 + 6.706 e 006.s + 1.005 Where e(n), e(n-1), e(n-2) are the error signals of the nth,
2) ADC model Gadc (s) (n-1)th and (n-2)th sample, respectively. The d(n-1) is the
The ADC gain depends on the resolution of ADC. The 8-bit duty-cycle command stored from the previous cycle, d(n) is
ADC operating from a 4.0V supply provides the discrete the current duty cycle command which is the controller output
levels separated by approximately 15.6 mV (4.0/255).So the for nth sample. Here, a, b and c are the controller coefficients
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to be determined.
A PID controller is designed initially assuming Kadc=1,
Kdpwm=1 in (19) .The controller is first designed in the analog
domain, then its discrete equivalent is obtained and the initial
values of coefficients a, b and c are determined. They are then
scaled by taking into account the actual values of Kadc and
Kdpwm i.e 64 and 1/255 respectively to determine actual
values of controller coefficients a, b and c. Equation (19), with
switching frequency fs=200KHz, Ts=td=5e-006 sec , can be Figure 7. Simulink Model of PID controller
written as:
1 . 175 e 006 s + 5
G sys ( s ) = G vd .e s .Ts = e 5 e 006 . s
5 . 654 e 010 s 2 + 6 . 706 e 006 s + 1 . 005
(22)
Using pade approximation, the transfer function Gsysd is
given by:
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The presence of delay term in the model makes the system Vi=510% V and the load transition from 2-1-2 . Fig.13.
unstable. The magnitude plots of both figures are same, but the shows the simulation results for, the output current i0, inductor
phase plots are different .It can be concluded the delay term current iL and output voltage V0. The change in input voltage is
affects the phase only. A controller is designed as above to shown in Fig.13 (b), the nominal voltage of 5V changes to
overcome these limitations to ensure stable response. From 5.5V, 5V, 4.5V and back to 5V at 2 ms, 4ms, 6ms and 8ms
Fig.11, the proposed controller gives a positive gain margin of respectively. The converter has load of 1.25 amps and changes
13.7db and a positive phase margin of 49.5 deg of the closed to 2.5 amps and back to 1.25 amps in t= 0, 2.5ms, 5ms
system, which make the system stable. The proposed closed- respectively corresponding to R=2-1-2 ohms as shown in Fig
loop system has a bandwidth of about 22.9 KHz .This design 13(a).
controller has good performances as verified in section V.
V. SIMULATION RESULTS
A Matlab/Simulink model developed for Buck converter of
Fig.5 is shown in Fig.12. It is composed of power stage Figure 13. Closed loop response of buck converter
modeled in section II, feedback controller designed in section
IV, ADC and DPWM models, in addition to the variable load The variation of error voltage e(n) is shown in Fig.(14a).The
and source voltage. The ADC model consists of an element e(n) varies between 4 ,because of error limiter present in the
that performs subtraction of the output voltage from the ADC model. The PID controller model represented by (25)
reference to generate the error voltage, ADC gain, S/H, and shown in Fig.7 is designed, simulated and explained in
quantization effects, delay, and saturation blocks. section IV. The duty cycle command d(n) generated by PID
controller corresponds to the error signal e(n) is shown in
Fig(14b).The duty command values varies between 0.0-0.8.
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settling times for (L to H) 1.25 to 2.5 amps load transition is [10] Y.F.Liu and X. Liu, Recent Developments in Digital Control Strategies
0.3ms and for (H to L) is 0.4ms.The overshoot and undershoot for DC-DC Switching Power Convertersin proc IEEE 6th International
conference on power electronics and motion control conference, May
for these conditions are 11% and 14% respectively for 0 to 2009, pp.307 314.
100% and 100% to 0% (of the nominal load) load transitions. [11] N. Hori, R.Cormier and K.Kanai, On matched pole-zero discrete-time
Simulation results demonstrate that the approach presents both modelsIEE PROCEEDINGS-D, vol.139, no. 3, MAY 1992, pp 273-78.
high steady state and dynamic performances. [12] J.H.Su, J.J.Chen, and D.S.Wu, Learning Feedback Controller Design
of Switching Converters Via MATLAB/SIMULINK in IEEE
Transaction on Education, vol. 45, no. 4,pp.307-14, Nov.2002.
[13] G.Liping , J.Y. Hung, and R. M. Nelms, PID Controller Modifications
to Improve Steady-State Performance of Digital Controllers for Buck
and Boost Converters in proc. IEEE Applied Power Electronics
conference and exposition, vol.1, March2002, pp.381-388.
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