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Final exam
Take home, open notes, textbook, materials posted on the course
website
On D2L: Friday May 3, 11am to Wednesday May 8, 5pm.
Late work will received zero credit
Absolutely no collaboration allowed, please read the exam front page
carefully
4 problems
Today
Finish intro to digital control of high-frequency switched-mode power
converters
Conclusions
ECEN5807
Digitally Controlled Buck Converter
iL(t) Iout
+ L +
+ C R
Vg vo
_ _
Scaling and
Dead-time control H(s) anti-aliasing
filter
fs = 1 MHz duty-cycle _
command error error
dc[n] Compensator e[n] ve
Digital A/D
PWM ndpwm Gc(z) converter +
+
Vref
creates an additional + L +
effective delay of DT +
Vg C R vo
ECEN5807
Loop delay
Vg vo Total delay in the control loop:
Switched-mode
DC-DC converter load
td = tc + td1 + DTs + tg
H
g
V
tc = A/D conversion time
DPWM
d
Compensator
e
A/D
ve +
ref
td1 = processing time
DTs = modulator delay
Digitally controlled DC-DC converter tg = gate-driver propagation delay
nTs (n+1)Ts
Total delay td is the vo[n] vo[n+1]
time between the
vo(t)
A/D sampling and
vs(t)
the PWM sampling
g1(t)
There is no sample-
and-hold in the sample
model tc td1 d[n]Ts tg
td
Timing diagram
ECEN5807
Loop Delay Discussion
m t d f c 360
ECEN5807
Design Example with Digital Control
iL(t) Iout
+ L +
Power stage parameters
+ C R
Vg vo
fs = 1/T = 1 MHz
_ _
Vref = 1.8 V,
Dead-time control
duty-cycle
Iout = 0 to 5 A
fs = 1 MHz _
command error error
Digital dc[n] Compensator e[n] A/D ve
+
Vg = 5 V
PWM ndpwm Gc(z) converter
+ L = 1 H
Vref
RL = 30 m
Digital Compensator
f c 100 kHz C = 200 F
Gcm 5.45 f p1 300 kHz
Resr = 0.8 m
f z 33 kHz f L 8 kHz m 53o
VM = 1 V
Gc ( z ) 28.5
z 0.9493 z 0.8063
H=1
z 1z 0.01278
ECEN5807
Digital System: Loop Gain Response
60
40
td = 0 s
magnitude [db]
20
0 Discrete Design
-20 Analog Template
-40
3 4 5
10 10 10
0
Results
-50
fc = 113 kHz
phase [deg]
-100
-150
PM = 57 deg
-200
GM = 7.7 dB
-250
3 4 5
10 10 10
frequency [Hz]
ECEN5807
Loop Gain Response including Loop Delay
60
40 Results for
td = DT=360 ns:
magnitude [db]
20
0
fc = 105 kHz
PM = 44 deg
-20
GM = 14.5 dB
-40
3 4 5
10 10 10
-50
phase [deg]
-100
td = 0
-150
td = DT = 360 ns
-200
td = 0.6T = 600 ns
-250
3 4 5
td = (1+D)T=1.36 s
10 10 10
frequency [Hz]
ECEN5807
Load Transient Response
1.82
1.81
td = DT = 0.36 s
vo 1.8
1.79 Load transient:
1.78 2.5 A to 5 A
4.8 5 5.2 5.4 5.6 5.8 6 6.2 6.4 6.6 6.8
-4
x 10
8 1.8 vo
6 1.795
1.79
iL 4
1.785
2
1.78
0 4.8 5 5.2
4.8 5 5.2 5.4 5.6 5.8 6 6.2 6.4 6.6 6.8 -4
x 10
-4
x 10
0.8
v 20 mV
0.6
10 s settling
d 0.4
time
0.2
ECEN5807
Digital SMPS Control:
Examples of More Advanced Features
1. Efficiency optimization
2. Embedded network analyzer
3. Time-optimal dynamic responses
ECEN5807 11
Example 1: efficiency optimization
dead-time problem
System-ID approach:
Inject pseudo- Output voltage
random perturbation
Cross-correlate with
output voltage to
obtain system
impulse response
FFT generates
frequency responses
ECEN5807
Example 3: Improved Large-Signal Dynamic Responses
Buck Converter
Vin
S vo
Modulator
L iload Worst-case transient:
C high-slew-rate
step load
ESR
Controller
+
Vref
vo (t)
vo vripple Output voltage deviation vo< vomax
Vo
tr Recovery time tr < trmax
i L(t)
t
i L
Iload Goal: meet the specifications
t
S
with a minimum-size or
a minimum-cost filter
t
ECEN5807
Ideal Time-Optimal Control
Buck Converter
Vin
S L vo
iload vo (t)
Modulator
vo vripple
C
Vo
tr
i L(t)
t
Controller
+
Vref i L
Iload Q1
t
Q2
Ideal time-optimal response S
to a step-down load
transient t
Transient-triggered
c c2
switching surface
Nonlinear switching surface controller
controller
fsample = Nos fs
Over-sampling of
cDPWM c2DPWM
voltage error e
qad
Fast transient d Vref
responses for fs DPWM PID
e +
arbitrary large-signal Window-flash
disturbances Constant-frequency PWM controller A/D
Digital capacitor
current estimation Standard digital PWM controller
Constant-frequency steady-state operation
Conservative PID, large small-signal stability margins
ECEN5807
Experimental illustration of controller effects
on the required filter capacitance C
iL iL
4 s/div 4 s/div
5 A/div 5 A/div
S S
Load enable L = 400 nH, C = 658 F Load enable L = 400 nH, C = 1.7 mF
With low-ESR capacitors, controller performance can affect the size and cost significantly
ECEN5807
Power Electronics Courses at CU-Boulder
Introduction to Power Electronics (PE1)
ECEN5797
(offered every Fall semester)
ECEN5807
ECEN5817 Course Outline
ECEN5807
ECEN5817 Course Outline
ECEN5807
New DOE GATE Center: Innovative Drivetrains in
Electric Automotive Technology Education (IDEATE)
http://mocha-java.uccs.edu/IDEATE/
Joint center between CU-Boulder and UC Colorado Springs campuses
Graduate certificate in Electric Drivetrain Technology (EDT)
Two new courses at CU-Boulder, both offered on campus and off campus via CAETE
ECEN5017 Power Electronics for Electric Drive Vehicles,
ecee.colorado.edu/~ecen5017, Fall semesters
ECEN5737 Adjustable Speed AC Drives,
ecee.colorado.edu/~ecen5737/, Spring semesters
ECEN5807
ECEN5017 Power Electronics for Electric Drive Vehicles
ecee.colorado.edu/~ecen5017
ECEN5807
Introduction to Power Electronics on Coursera
https://www.coursera.org/course/powerelectronics
ECEN5807 26
Thank you and good luck with the finals
ECEN5807 27