IEEE International Symposium on Circuit and System 2003

Tutorial Guide

Tutorial Notes on

CHAOS IN POWER ELECTRONICS

IEEE ISCAS2003

Chi K. Tse Department of Electronic and Information Engineering Hong Kong Polytechnic University Hong Kong, China Email: encktse@polyu+edu.hk

CONTENTS
Topics Introduction to power electronics Nonlinearity - A default property Classic example: period-doubling in current-mode converters Recent study from bifurcation perspective Bifurcation Behaviors of Circuits studied previously Literature review Current state of findings Comparison of two basic types of bifurcations Border collision from circuit operational viewpoint Basic problems in anaiysis Models and approaches Which model to use? Brief outline of analytical techniques Summary of observations Possible engineering applications An example of application: bifurcation in power-factor-correctionconverters Conclusion and future work

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IEEE IntemationaI Symposium on Circuit and System 2003

Tutorial Guide

Chi K. Tse
enckkeQpohlu.edu.hk
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k Iniwmatbn Enginewing

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Tutorial Guide

v,, I
The switch is turned on and off at high frequency. The output is equal to
,

v,
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DY*
t D = duty cycle = on time period

POLYTECHNIC UNIVERSITY

D e p a mK. of OeRront Ch t Michael Tse

FEEDBACK CONTROL
THE HONG K O ~ G

POLYTECHNIC UNIVERSITY

chi K. MI&& T S ~ 4 Department Of Electronic

B Infwmabm Englnemw

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Buck (stepdown)

Buck-boost (stepupdown)

Time varying - different systems at different times

AND
Nonlinear - the time durations are related nonlinearly with the output function
I

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Power electronics engineers/researchers are dealing with nonlinear problems Much of power electronics is about identifying nonlinear phenomena and "taming" them to do

'

useful applications
9

Classic examples:
Averaging (R. David Middlebmk, Richard Bass) Discfete-time modeling ( a Owen, Fred Lee) Hw Stability analysis (George Verghese) Phaseplane analysis/control (Fred Lee, Ramesh Oruganti) Sei-& approximation (Richard Tymerski)

THEHONGKONC

POLYTECHNIC UNIVERSITY

ChiK.Mtd~-lTse Departm37td-r & Inf" "mng

Boost converter with currentmode control

Simple anatysii

reveals a change of sa i status at a t bv l critical duty cycle of

05 ..
The circuit is actually 'stable' beyond the aitical point, though operata with a
longer period.

Thls perioddoubling
THE HONC KONC
phenomenon was observed long ago.

POLYTECHNIC UNIVERSITY

a~

O l i K MichaelTse 0epamnentor-k n m ~ngineerirq "

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IEEE International Symposium on Circuit and System 2003

Tutorial Guide

With the help of computers, we can study the phenomenon in more detail.

hw

Bifurcation diagrams (panammic view of stability

Sampled variable at steady state versus parameter, e.g., i , ( n ~ )VS. rM

We can plot bifurcation diagrams for different sets of parameters
I
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.,

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I,
(7;liKMlchaeiTse DeDamOfoeCbonK:

POLYTECHNJC UHIVERSWY

Voltage-mode and current-mode controlled simple buck and boost converters, and many others
L

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clli K. MKnael Tse DZWrZnZM Of -IC

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& Informah E n g t m n g

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Tutorial Guide

V.

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POLYTECHNIC UNIVERSITY

011K.MldlaelTse

11

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IEEE International Symposium on Circuit and System 2003

Tutorial Guide

quasi-periodicorbit

POLYTECHNIC UNIVERSITY

D e p a m o l m i c

8. hnfamMKn Englnesing

THE HONG KONG

POLYTECHNIC I V E M ~ T Y UN

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Hamill and Jefferies [1988] First analysis of bifurcation and chaotic dynamics in a first order PWM voltagemcde controlled converter. Lkane and Hamjll I19901 - Anatpis of bifurcation in first order and second order PWM buck converters.
I

Hamill et a/. [I9921 Derivation of an iterative map to analyze bifurcation in a buck converter in continuous mode. Deane [1992] First report on chaotic behaviour in a current-contmlled boost converter.
Tse [1994] Derivation an iterative map to demonstrate perioddoubling cascades in a boost converter in discontinuous mode.

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POLYTECHNIC UNIVERSITY

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Chakrabarty et al. [1995]/ F w a s and Olivar [19%] in a PWM buck canvwter.

- Further study of chaos

Dobson [1995]-Study of b4furcatien in thyTk" and diode circuits

PDddareta/.I1995I/Batlleelaf.[1996]-CQn~cfchaosindc/dc convert?rs.

Tse and Chan [199S] Study of bifurcation and chaos in a fourt9 order
current-mnbolled Cuk converter.
Eanejee eral. [1997] Analysis of &sting

affradors in buck converter

Chan and Tse [1996] Shdy ofbifurcation in current-mode converter with and without feedback

Banerfee eral. [1997] Examination of c u r r e n t - d e mnverteers in the light of " m e r collision bifurcation".

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POLYTECHNIC UNIVERSITY

CluKHdm2lT~ 1 6 kpWhlCllt d m K B Informamn Ecg"-q

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f s e 119971-Analysis of autonomous Cuk converters using averaged models.

Di Bemardo et al. [I9981 Study of variots sampling and their applications in h e identifiation of bifurcationand chaos. man and Tge [1998] Roof of pericd-doubling in discontinuomconverters using Schwamiandenvafives Di Bemardo et al. if998] Analysis of the non-srmh dynamics (such as grazing, skipping and sliding) ofW c converters. d
El Arwdi et al. 119991 identificaticmof quad-periodicity and chaos in a b s mt

converter.

Mazumder, Nayfeh and Somjevich [1999] Fast- and slows-scale instabilities.

lu and Tse [ZOO01 - Study of bifurcation in paraflel mnverteE

Orabi and N i m i y a I20021 / Tse [2002] Analysis of power factw correction converters

Review artides

D.C. Hamill, P m . NDEs'95, pp. 165-177. 1995.

C.K. Tse, CA5 Newdetter, pp. 14-48, March 2000.

I. Nagy, Automarim 42, pp. 117-132,2001.

S. Banerjee et al., Ch. 1, Nonlinear Phenomena in PE, IEEE Press 2001.

C.K. Tse and M. di Bemardo, I Proceedings 90, pp. 768-781, 2002.

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THE o w Kosc H

POLI'TECHSIC UNIVERSITY

ChiK MichaelTse hpamnetlt Of m X

18

E Tnformbon Engmeenng

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Two types of bifurcation*

seen in power electronics

Standard bifurcations(found in other systems as well) Period-doubling Hapf (Neimark-Sacker) Saddlenode Border collision (characteristicof power electronics) Abrupt change of behavior due to a structural change
*3ifurcation refers to sudden change of qualitative behaviour of a dynamical system when a certain Parameter is varied.

THEHorvG KONG
POLYTECHNIC UNlVERSfTY
chi K. Michael Tse Depamnent of Uecannn:

1 9

- . e .

Who will get what?

Standard bifurcations Buck converters (vokage-mode) - period-doubling Boost convetters (voltage-mode) - Hopf Dcjdc converters in DCM period-doubling Most dc/dc converters (current-mode) - period-doubling Other types - variety: saddle-node, crisis, etc.

Barder collision (characteristicof power electronics)

Alt standard bifurcationsare interrupted by border collision
THEHONCKONG

POLYTECHNIC UNIVERSITY

ChlK.Ml&#lTse
Department of Electmnic

20

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Standard bifurcations
Loss of stability

Border collision
Loss of "operation" Structural change Non-standard appearance in bifurcation diagrams, e.g., bendings, jumps, etc

No structural change Standard appearance bifurcation diagrams

Structural change in switching converters = Alteration in topological sequence

e.g.,

change of operating mode, reaching a saturation boundary

THE HONC

KOWG
o l i K. Michael Tse
Dewrbnentof Uedmnic

POLYTECHNIC UNIVERSITY

21

Border collision
Non-smooth phenomena "always" observed in power electronics circuits

I-.

1..

boost converter under current-mode control

Qb r

THEH o w KO%

POLYTECHNIC I V E R S I T ~ UN

ChlK.MichaelTse Denamrent of E k c b m c & Intonnabon Engineering

22

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Tutorial Guide

Essence: standard bifurcation being intermpted

boost conwrter under current-mode

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POLYTECHNIC UNIVEFWTY

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Evcessive swing of control signal Duty cycle saturation . Out-of-range operation, preventing continuation of standard bifurcations
e.g., buck converter in voltage-mode control

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IEEE lntcrnational Symposium on Circuit and Systcm 2003

Tutorial Guide

Further increase in feedback gain...

What models to use?

What techniques to use?

Anopenquestion : What are the applications? (What do we use the results for?)

THEHONC KONC
C h i K . M ~ h a d T s 26

POLYTECHNIC UNlVERSlTY

D e p a d t of Elecbonr: b ~nrmnanar~raineenq

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Tutorial Guide

1I
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simole detaik destroved

Discrete-time models
4'

THE HONC KONC

POLYTECHNIC UNIVERSITY

Ch4KMidueITse

Standard bifurcations
9

Hopf bifurcation,

Fetid-doubling bifurcation,
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OiK.MichadT# Deparrmemor&"
& I n t o n a h Engineerirq

POLYTECHNIC UNIVERSITY

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IEEE Intcmational Symposium on Circuit and System 2003

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Phase space view

Hopf bifurcation,
'4
limit cycle low-frq. orbit

Period-doubling bifurcation,

't

2Torbit

THEHONCKonc

POLYTECHN~C UNIVERSITY

PIiKMrhaelTse &Partmew d m K & I n f m b m Ergneenng

29
,

Fast and slow scales

Hopf bifurcation,

I0
limit cycle

low -frequency phenomenon

low-freq. orbit

- averaged models
are capable

Period-doubling biwrcation,

high -frequency phenomenon

- discrete-time
I
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modelsareneeded

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POLYTECHNIC UNIVERSITY

Chi K M W 1 T s - e DeparbrmtofEkmmk

L lnfwmabw Engineering

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e.g., In parallel boost converters, as feedback gain increases, we v s of Stable period-1 I_, quasi-periodic I_, limit cycle

e.g.,

In a currentmode boost converter, we see perioddoubling:

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EXAMPLES For the parallel boost converters under master-slave control, we see a slow-scale phenomenon.

Thus, averaged models should be adequate! (Iu and ?se, IscAs2002)

For the current-mode mntrolkd boost converter, we see fastscale phenomenon. Thus, we must resort to discretetime models. (Chan and Tse, IEEE TCASl 1997)

The basic questions of practical importance are

Where and when it happens? Location of boundary of operation - bifurcation point

How it happens?
Identification of the type of bifurcation

THEH O N ~ KONC
ChiK.M&Tse
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POLYTECHNIC UNIVERSITY

nI n f c "

Department o flRtronk f Enginemng

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Averaging approach
Derive a set of continuous averaged equations:

.i- f ( x )
Examine the Jacabian, J(.YQ;ol and find the loci of the eigenvalues when a bifurcation parameter is varied.
I

Identify the condition for the eigenvalue(s) moving across the imaginary axis in the complex plane: e.g., a pair ofmplex eigenvahes moving across the imaginary axis implies a Wopf bifwwtim.

THE HONC KONC

POLYTECHNIC UN~VERS~TV

Chi K. Michael Tse Dewlrment Of flecbonic & Infmnahon Es.gineeong

35

Advantages: Widely used and well known. Relatively easy to derive the continuous averaged equation. Limimion:

Only able to predict low-frequency slow-scale bifurcation behaviour such as Hopf bifurcation.

THE HONGKONG

POLYTECHNIC UNIVERSITY

C h r K . MichdTs-5 3 D e p a m al Uectmnii & Ildarmaam EngkEnng

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IEEE International Symposium on Circuit and System 2003

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Discrete-time map approach

Denve a discrete time map (iteratwe funmon
x,+1-

0:

f(xm4
t
R16
02

Examine the Iacobian,J(Xg) and find the loci o l the eigenvalues when a bifurcabon parameter is
varied

Identify the conditron for the eigenvalue(s) moving out the unit circle in the complex plane:

detlil- J(X,)]
Me implies a penod-doubbng

-0

az~
0

-e.g., one of the ergenvaiues moving out ~ m u g h -I

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Advantages:
Provide a relatively complete behavioral information.

Able to predict standard bifurcations such as period-doubling bifurcation, Hopf bifurcation and saddlenode bifurcation.

Limitation :
Derivation of the iterative map is more complicated compared t o the continuous-time averaged equation.

THEH r r K o x ~

POLY TECHXIc U SIVERSI TY

C h K. MiLhaeI Tse Ceprhnent of ElRtronk

8 lnfcnnatlon Engineenng

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&sic principle:

It usually involves cfiange ofthe form of&hequalitative mode/ before

and after the collision.

R e s u b (reported in Physics literature):

There are theoretical publications (C. Grebogi, H.E. Nusse, S. Banerjee, M. di Bemardo) on the type of transition at the collision. These transitions are usually "sudden" changes, e.g.,

from period-1 to chaos from period-1t another period-1 o

THE HONC KONG

POLYTECHNIC UNIVERSITY

C h r K Michael Tse

39

D e w m Of mct-onc
Ll n h "
Engineering

Of engineering interest is the location of the border.

Analysis involves identifying the mechanism that causes the
collision,

e.g., control signal swings to far up or down

One can analyze the situation and derive formula for the critical point.

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THE HONG KONC

POLYTECHNIC UNIVERSITY

0iK.MkhaelM Department d oecbonk

40

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Tutorial Guide

Standard bifurcations Such as perjoddoubling and Hopf bifurcation are commonly observed in d4dc converters.

- practically more important because

standard bhrcatian is always the first bifurcation next to the usual 5ta

Border co//&ionbifurcation com6 i play to disrupt the growth of stand bifurcations.

- stgnatvrf! phenomenon in power electronics

THEHONCKONG

POLYTECHNIC UNWERS~TY

ChiKMlchaelTse 41 DePa~Ofuecbonk Infumadan Engineericq

Prediction / Better understanding Systematic collection of results concerning bifurcation to form a useful design guide. operation boundary instability features [ e.g., recent finding on PFC converter 3
Design Use of chaotic operation to advantage.

bansient speed ? EMC ?

THEHONCKONC

POLYTECHNIC UNIVERSITY

C W K - W T S E 42
DP2 aK Of -IC & InfDmrabon Englneuing

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PFC boost rectifier

1.

= typically a boost converter under current-programming conml

The input current is forced to track the input voltage waveshape

44lru ...._.d >

~

I - -

Note: essentially slope compensation

THE HONG KONC

POLYTECHNIC UNIVERSITY
'

chi K. Michael Department of Elecbonic

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43

B. Informatkm Engineering

We observe asymmebical slope compensation in this P K boost

+ve slope compensation in [a, n/2] -+less stable -ve slope compensation in [IC/.?, JC] --> more stable

rectifier:

Bifurcation analysis can reveal interesting phenomenon

...

Discrete-time map:
= M c Mc- v / V M +l
+

jf,

. +higher order terms

just for convenience.

where THE HONG KONC

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POLYTECHNIC UNIVERSITY

ChlK.MichaeITse Dewrbnent of aectmnic

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lEEE Inbmational Sympos~um C I ~ C U I I System 2003 on and

Tutorial Guide

Bifurcation analysis
Suppose the input voltage IS

fill(@ =

Isin 81

Relating the compensation slope m, wlth the input voltage variation for the PFC

case:

Would there be fast-scale instability (e.g., period-doubling)? A t what phase angle would it oaur?
THEHOhC KONG
Chi K. MrChae Tse

POLYTECHXIC UNIVERSITY

D e w m m Of E k C b U M C
8 InformationEnginmnp

45

Bifurcation analysis

lacobtan:

Characteristic multiplier:

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Tutorial Guide

THEHONC KOLG

1
ChK.H~chadTse 47
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POLYTECHNIC UNIVERSITY

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This formula allows us to do a number of things:

IS0

L I R =2.5X1O4s

e.g., Predicting fast-

scale instability

_____
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@Ch

%z
3.5

0
I 5
2 2.5 3

THEHONG KONG

POLYTECHNIC UNWERSITY

ChiKMbimITre -0fEkLbUlii

an i-

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Defining stability boundaries

w -.
4

1x10

. 2.5

3 5

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Tutorial Guide

Recap:

Power electronics erigineers/researchers are dealing with

nonlinear problems
Much of power electronics is abaut identifying nonlinear phemmena and "taming" them ta do useful applications

For power electronics (nonlinear systems in general),

- 'stability" refers to operation in the expected regime - a variety of ways the system can become unstable
(to get away from the usual operation)

- a number of affecting parameters

- BIFURCATIONANALYSIS
THEHONG Konc
'

POLYTECHNIC UNIVERSITY

Li n f o "

ChiK.MWTse kParblXM Df OedmoK Engineering

51

Enginet3-sfrequently ask:
What are the applications of chaos and bifurcation studies?

Topics of future research:

Reorganizing results in terms of practical operating conditions and parameters Developing design-oriented bifurcation procedures Identifying new phenomena in practical circuits

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Tutorial Guide

Books
C.K. Tse, Compkf Behavior ofswitching Power tonvetfefs, Boca Raton: CRC Press, 2003. S. Banejee and G.C. Verghese (Eds.), Nonlinear Phenomena in Power Nectmnics: Atk&" Bifurcationsand Nonlinear cOn@o/, New York, IEEE Press, April 2001.

Review paper
C.K. ?se and M. di Bernardo, "Complex behavior of witching power convetters," P r m d i ~ of s

me I., vol. 90, no. 5, pp. 768-781, 2002.

Joumals
9

IEEE Transactimson Circuits and System Part I lntematiml Journal of Bifurcation and Chaos InternationalJouml of Circuit Theory and Applications

Acknowledgments:
The author wishes t thank o

- Profs. Alex Baranovski and Wolfgang Schwam far kind arrangements

- Prof. %urniVa Banerjee for many helpful discussions.

Contact address: Prof. Chi K. Tse

Dept. of Electronic and Informatton Engineering
Hong Kong Palytechntc University, Hong Kong, mina Email: encktse@polyu.edu.h k

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