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Principles of Power and Control

Assignment Specification

version:MW2011/1

Part A Switched mode power supplies


This assignment uses the PLECS Student Version to model various power circuits and record their performance. The circuits are: Simple Thyristor circuit with RL load Buck Converter (240vDC ->3vDC) Boost Converter (12vDC->110vDC) H-Bridge (24vDC->24v60HzAC) ( )= objective Documents are provided to support the assignment. The full document sets will be available electronically. An introduction to power converters is provided as well as a relevant set of documents relating to the design of the power converter types. In addition a document giving details of switching devices is included. You are required to design each model to a set specifications, selecting the input voltages and output power ratings for each design and working out the relevant component values. Buck and Boost converter models should include a form of feedback so that the load can vary and the pulse width applied to the circuit adjusted accordingly. Select your own switching components and credit will be given for original work.

Simple Thyristor Circuit with RL-load


This demonstration circuit shows how a single thyristor (SCR) is used to chop an AC voltage.

The first graph below shows the input signals - the AC voltage and the pulses synchronized with it.

Note the way that the thyristor is turned on and off. Refer to the technical literature to explain this.

v _ s rc

v _ lo a d

S in e W a v e
g a te

P LE C S C irc u it
i_ s r c

S cope

P u lse G e n e ra to r

C irc u it

Now build this circuit in Simulink To start you need a copy of the PLECS library on your system (a USB drive will do) but Matlab must be looking at the directory where it is held by setting a path to the directory. You must build the circuit using the PLECS library in the PLECS circuit window. Click on the Components window to get access to the necessary components. This circuit can now be saved (.mdl) and dragged into a Simulink window where you can add the necessary interfacing. Write a detailed explanation of this circuits operation and indicate applications. Note: You need to design in the PLECS window separately, you cannot mix and match Simulink and PLECS libraries. See Appendix 2. for instructions how to start the PLECS library features.

Triacs
Replace the thyristor(SCR) with a Triac. Observe and record the results. What is the effect of increasing the resistor (changing voltage/current phase displacement). Identify applications of triacs. What is a Diac? Check on the "All About Circuits" web site for Triacs and Diacs.

Buck Converter
This is a basic Buck power converter that can be built using the PLECS library. It should be saved as a .mdl file and included as macro in a Simulink simulation see below.

This simulation also uses the PLECSprobe facility to monitor the inductor and capacitor current and voltage. The buck topology shown is one of the most basic. It is a non-isolated down converter operating in the direct mode. Load current is conducted directly by the single switch element during the on-time and through the output diode during the off-time. Advantages of the buck are simplicity and low cost. Disadvantages include a limited power range and a DC path from input to output in the event of a shorted switch element, which can make secondary circuit protection more difficult.

P LE CS P ro b e P ro b e i_ d c , v _ l

p u ls e

P LE CS O u t1 C i rc u i t D isp la y C i rc u i t

P u ls e G e n e ra t o r

S cope1

The result of the simulation can be seen on the voltage display and on the PLECSprobe output. ->

Run this model and demonstrate that by changing the pulse timing, the average power in the system is altered. Now modify the circuit to convert 240vDC to 3vDC and document your results, tests and final design.

Analysing the Buck Converter


Modify the the Buck converter circuit so that the current through the diode can be seen (below). Observe the result and comment on it.

Alternative Designs
Identify alternative designs of buck power converter, include isolated and indirect technologies. Explain why isolation is desirable. Refer to "Principles of Power Conversion" - Artesyn.

Switches
Compare the operation and application of MOSFETs and IGBTs as switching devices. Use the search facility on the "All About Circuits" website. Try different switches in your designs and observe any differences.

Boost Converter
A boost converter can be similarly constructed using the circuit below:

Build this circuit and document its output and the signals at key points. Describe how it works.

The boost topology shown is the most fundamental form of a non-isolated up converter. It is classified as an indirect converter since the energy transfer to the output occurs when the switch element is in the off state. During the on-time of the switch element, energy is accumulated in the input inductor as it is connected across the input voltage source by the switch. During this time, the load current is drawn from the output capacitor, which is isolated from the reverse biased diode. When the switch turns off, the energy stored in the inductor is released into the output through the diode adding to the input voltage source and setting the output voltage to the desired value as a function of the converters duty cycle.

Now modify the circuit to convert 12vDC to 110vDC and document your results, tests and final design. Feedback Control in Buck and Boost Converter All designs must include feedback to maintain a stable output. Examine the PLECS demos and find out how they have achieved this. Consider this option with a Buck Converter, and try it out:-

Alternative Designs
Identify alternative designs of boost power converter, include isolated and indirect technologies. Comment on the efficiency of rectifiers using alternative designs. Refer to "Principles of Power Conversion" - Artesyn.

Flyback Converter
A flyback converter can be similarly constructed using the circuit below:

Modify the input voltage to 110V DC and observe the results. Modify the pulse width and observe the results. This is a transformer-isolated topology operating in the indirect conversion mode. When the power switch is turned on, primary current ramps up and energy is stored in the core of transformer. During this time interval, diode is reverse biased and energy to the load is supplied by the charge

in capacitor. When the switch turns off, the negative current transition on the primary is reflected to the secondary so that becomes forward biased and current is conducted to the load and also to recharge.

Resonant Reset Forward


Forward topology is one of the most commonly used, and has several variations, the most basic of which is shown below. The forward converter is essentially an isolated version of the buck converter operating in the direct mode and the basic single switch version shown can be successfully operated over a wide power range. Due to the transformer, the forward topology can be used as either an up or a down converter, although the most common application is down conversion. The power transferred to the secondary during the on-time is conducted through diode D1 to the output LC filter. During the off-time, the secondary current circulates through diode D2. The transformer is reset during the off-time by means of the auxiliary winding, Naux, and diode D3. The main advantages of the forward topology are its simplicity and flexibility.

Resonant Reset Forward


The basic forward topology can be modified slightly, as shown below, to achieve resonant reset operation. The additional capacitance Cr resonates with the magnetizing inductance of the transformer during the off-time and resets the transformer core. This increases the utilization of the transformer core and results in a much more effective magnetic design (no reset winding) along with a larger maximum duty cycle (the basic forward topology is limited to 50% duty). Cr is the combination of stray capacitance and a small discrete ceramic capacitor. The downside is that the resonant transition during the off-time increases the voltage stress on the switch element and output diodes.

Note: R1 has been inserted to ensure that the model resolves

Build this Resonant Reset Forward circuit and use the PLECS probe to examine the internal operation. Record and comment on your results.

H-Bridge Inverter
This model shows a voltage source inverter (VSI) realized with generic switches. The constant DC link voltage is programmed from Simulink. The three available output voltage levels are cyclically applied to an RL load. Apply instrumentation (scopes) to the H-Bridge so that you understand the mechanism. Modify the system so that it outputs 24volts at 60Hz. Record your test data. Suggest applications for this type of design. Explain the operation - in detail. (Use the model in the PLECS examples.)

Marking Scheme
Thyristor/Triac Circuits Buck Converters, switching devices Boost Converters, rectifiers Flyback Converter Resonant Reset Forward H-Bridge Inverter 10 Marks 10 Marks 10 Marks 10 Marks 10 Marks 10 Marks

Each design should be explained in detail. - 5 marks Relevant results should be included and commented on.(see below) - 5 marks

Report Guide - 2011


The following document is made up of a set of questions which your report should provide answers to. Do not "cut and paste" from the web, it will be obvious and you will learn nothing from it. Include diagrams where appropriate and additional modeling of appropriate designs. Your report should include include references in the left margin, to these questions. Use the documents, models and links on Moodle, as well as the PLECs demos to support your research. 1. THYRISTORS/TRIAC CIRCUITS a) Describe the operation of a thyristor (SCR) when applied to an AC circuit. What is the effect of an inductive load? b) How does an inductive or conductive load affect the phase relationship of current and voltage in an AC circuit. What is the effect on the overall power in the circuit? How can it be corrected? c) Describe the operation of a TRIAC when applied to an AC circuit. What is the effect of an inductive load? d) How can a TRIAC be used to control the power of an AC motor. e) How can a DC motor be controlled using PWM to switch an FET? f) Compare an FET with an IGBT. 2. SWITCHMODE CONVERTERS a) Compare the operation of a linear converter with a switch mode converter. b) Compare isolated and non-isolated switch mode designs. c) What are static and switching losses? d) Differentiate between direct and indirect converters. 2. BUCK CONVERTERS a) Explain how a basic Buck Converter works. What is the effect of changing the pulse width? b) What is the ideal range of switching frequencies? Why are there design problems outside this range? c)What other types of down converter are there that provide isolation? d) Show the operation of an isolated (transformer based) buck converter and discuss its operation, describing the internal current flow. 3. BOOST CONVERTERS a) Explain how a basic Boost Converter works. b) What other types of up converter are there that provide isolation? c) Describe a Resonant Reset converter and give its advantages. 4. INVERTERS a) How does an H-bridge inverter work? b) What are typical applications of inverters? c) How can they be used to vary the frequency of AC supplies? 5. PID CONTROLLERS a) Explain Proportional Control. b) Explain Derivative Control. c) Explain Integral Control d) Give typical applications of PID control

Part B - Control
Each section here has 10 marks.

Introduction - Open Loop Control


Build and test the circuit shown. Note the results. (Enter the transfer functions as for example "Over Damped" , denominator = [1 4 1].

PID Controllers PID 1 Manual Tuning


A PID controller operates on three streams of data, Proportional, Integral and Derivative. The model below is for a continuous PID controller. The gains Kp, Ki and Kd are entered in the command window. Build and run this model using initial values of Kp = 0.4, Ki= 4, Kd=2.5. Giving:-

Now use manual methods to tune this model. - see Appendix 1.

PID -2

Ziegler Nichols tuning

This assignment is based around a PID model implemented as a Simulink block (available on Moodle). Read the tutorial papers on PID controllers and then attempt the changes to the simulation below and note the results. Finally write a brief description of a PID controller, describing its features, application and how it works. This model represents a third order process, consisting three chemical reactors.

Using the methods described in Appendix 1. Tune the system,

Set the gains Ki and Kd to zero and adjust Kp until the system oscillates at a regular rate.

Measure the period of a single oscillation and the relevant value of Kp. Calculate the new values for Kp, Ki and Kd.

PID-3 PID Controllers in noisy environments


The behaviour of a PID system when there is noise on the input can be examined using a noise generating circuit:-

This produces a noisy step signal:-

Which can be used to test a PID circuit:-

Build this circuit and examine the effects of noise on the output.

Note: The White Noise produces a large spike at 1. This clipped by the Wrap To Zero function, as a zener diode would in real life. Set Kp = 1.02, Ki = 0.288 and Kd = 3.57. Try different values of Kd and Ki, and note the results. Try different levels of noise by altering the level of noise by changing the gain in the noise generation circuit. What are your conclusions? Comment why some controllers are PI only. (search the internet)

Marking Scheme
Documented results and commentary 40 marks

Deadline :The last teaching day.

Appendix 1. PID Tuning (from Wikipedia)


Manual tuning
If the system must remain online, one tuning method is to first set Ki and Kd values to zero. Increase the Kp until the output of the loop oscillates, then the Kp should be left set to be approximately half of that value for a "quarter amplitude decay" type response. Then increase Ki until any offset is correct in sufficient time for the process. However, too much Ki will cause instability. Finally, increase Kd, if required, until the loop is acceptably quick to reach its reference after a load disturbance. However, too much Kd will cause excessive response and overshoot. A fast PID loop tuning usually overshoots slightly to reach the setpoint more quickly; however, some systems cannot accept overshoot, in which case an "over-damped" closed-loop system is required, which will require a Kp setting significantly less than half that of the Kp setting causing oscillation. Effects of increasing parameters Parameter Kp Ki Kd Rise time Overshoot Settling time Error at equilibrium Decrease Eliminate None

Decrease Increase Small change Decrease Increase Increase Indefinite (small decrease or increase) Decrease Decrease [1]

ZieglerNichols method
Another tuning method is formally known as the ZieglerNichols method, introduced by John G. Ziegler and Nathaniel B. Nichols. As in the method above, the Ki and Kd gains are first set to zero. The P gain is increased until it reaches the critical gain, Kc, at which the output of the loop starts to oscillate. Kc and the oscillation period Pc are used to set the gains as shown: ZieglerNichols method Control Type Kp Ki Kd P 0.50Kc PI 0.45Kc 1.2Kp / Pc PID 0.60Kc 2Kp / Pc KpPc / 8

PID tuning software


Most modern industrial facilities no longer tune loops using the manual calculation methods shown above. Instead, PID tuning and loop optimization software are used to ensure consistent results. These software packages will gather the data, develop process models, and suggest optimal tuning. Some software packages can even develop tuning by gathering data from reference changes. Mathematical PID loop tuning induces an impulse in the system, and then uses the controlled system's frequency response to design the PID loop values. In loops with response times of several minutes, mathematical loop tuning is recommended, because trial and error can literally take days just to find a stable set of loop values. Optimal values are harder to find. Some digital loop controllers offer a self-tuning feature in which very small set point changes are sent to the process, allowing the controller itself to calculate optimal tuning values. Other formulas are available to tune the loop according to different performance criteria.

Alternative : Ziegler Nichols tuning method: closed loop


(http://www.jashaw.com/pid/tutorial/pid6.html )

Steps:Place controller into automatic with low gain, no reset or derivative. Gradually increase gain, making small changes in the setpoint, until oscillations start. Adjust gain to make the oscillations continue with a constant amplitude. Note the gain (Ultimate Gain, Gu,) and Period (Ultimate Period, Pu.) The Ultimate Gain, Gu, is the gain at which the oscillations continue with a constant amplitude. The gain, reset, and Derivative are calculated using: Gain P PI PID 0.5 GU 0.45 GU 0.6 GU Reset

Derivative

1.2/Pu 2/Pu

Pu/8

Appendix 2. Using the PLECS library


1. Ensure that the PLECS library is available to your system, on your H: drive or a memory stick. 2. Start MATLAB and make sure that the PLECS library is in the directory path. 3 Type plecslib in the MATLAB command window, don't forget to hit the <ENTER> key. 4. Agree that you are a student user. 5. You should now see:

Note that the library is locked. 6. Unlock it using the Edit function - in the PLECS library window.

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