A Self Oscillating Voltage Controller for Applications with High Bandwidth

J.C. Olivier J.C. Le Claire L. Loron N. Ginot

Institut de Recherche en Electrotechnique et Electronique de Nantes Atlantique Electronavale Technologie
Bd de l’Université – BP406 – 44602 St Nazaire 332 Bd Marcel Paul
FRANCE 44806 Saint Herblain
jean-christophe.olivier@univ-nantes.fr FRANCE
jean-claude.le-claire@univ-nantes.fr ginot@electronavale.com
luc.loron@univ-nantes.fr

Abstract – In case of electro-technical body tests, it is necessary
to use voltage-controlled converters with large bandwidth and
fast dynamics. Recently, a novel pulse width modulation has
been investigated. It has permitted to design regulators in order
to reach an accurate tracking of current or voltage references.
Here, the first version of the voltage controller is improved in
order to target these new specifications. Indeed, it is necessary
to get a bandwidth of a couple of kiloHertz, with a phase shift
lower than ten degrees. This goal is reached.
I. INTRODUCTION
II. QUICK OVERVIEW OF A CURRENT REGULATOR
Before an investigation of the new version of the voltage
regulator, it is useful to present a current regulator whose the
operating mode depends on an oscillatory mode [7]. Indeed,
it is easier to understand how this current regulator operates,
because of its simplest structure. Thus, the next figure
illustrates a non-linear model of a power converter. The
output current is under control of this regulator and is
measured by means of a sensor whose transfer function is
defined by RT and is assumed to be real.

The power converters can be used for supplying electrical iref (t) + ε(t) u(t) L R il (t)
RT
machines, which require high performances. They also can −

be used for UPS applications. In case of electrical machine y(t)

Relay F1−CR (s)
controls, high specifications such as good dynamics are
requested. When they operate as UPS, the command must be filter
RT
robust because of the unknown loads. Then, it is difficult to
get simultaneously a good tracking of the reference and a Current
F2−CR (s) sensor
robust control. Nevertheless, the commands involving sliding
modes are able to reach such specifications. But the Fig.1. Current regulation loop
maximum switching frequency of the power switches is not
The transfer function F1-CR(s), involved in the current
well controlled without an auxiliary process (hysteresis, etc.)
regulation, relates to the load of an inverter, where the
[1][2][3].
current to be controlled is going through. As the load is
inductive, it takes into account its inductance L and
Recently, a new technique has been developed [4]. It
resistance R. An added filter is involved in the system for
permits to control the output current or voltage of a
converter switching frequency control. Its transfer function
converter, where the control loop enters in a resonant mode
F2-CR(s) is a second order low-pass filter. Thus, the transfer
[5]. So the electrical system oscillates. The process is based
functions F1-CR(s) and F2-CR(s) are given by:
on a technique, which has been recently patented [6]. The
features are a high dynamic response, a very low sensitivity
to the load parameters and a known maximum switching il ( s ) 1 1 1 (1)
F1−CR ( s ) = = =
frequency of the power switches. In case of voltage control, u ( s) L s + R R τ 1 s + 1
this technique uses the output voltage of the converter and its
derivative. With the first voltage regulator, it is not easy to do 1 (2)
the corrector synthesis. Then it is not possible to find an F2−CR (s ) =
s 2
2ξ
accurate low frequency close loop model of the system. + s +1
ω02 ω0
Here, the first prototype of this recent voltage regulator is
improved. It now involves the voltage and current states, thus where ξ is the damping factor and ω0 is the natural
removing the need of the voltage derivative. In this way, frequency.
working with the sliding mode approach permits to find a
low frequency model of the electrical structure. Thus, the Thus, the inverter applies the voltage signal u(t) to the load
voltage regulator can be improved and the simulated and F1-CR and the relay acts as the power stage. Its output voltage
experimental results demonstrate the high performances of is given by:
the second version of the voltage regulator. Thereby, the
regulated converter is able to track 800Hz waves and large u (t ) = E sign(ε (t )) (3)
transients even if it is loaded or not.

1-4244-0136-4/06/$20.00 '2006 IEEE 2838

 This concept simultaneously combines two structures. The damping factor depends on the load of the converter, which
first one acts at lower frequencies for current regulation and is assumed to be a resistor in order to simplify the
the second one acts at higher frequencies for switching followings. Then, the transfer function of the filter F1-VR is
frequency control by means of a voluntary oscillating mode. now given by:
Involving the load, whose the voltage to current transfer
function is F1-CR(s), the linear part of the system becomes a u c (s ) 1 1
F1−VR (s ) = = 2 with ω0 LC = (6)
third order low-pass transfer function HCR(s) which is defined u (s ) s L LC
as follow: + s +1
ω 02LC Rs
H CR ( s) = F1− CR ( s ) RT F2 −CR ( s) where L, C and Rs respectively depicts the smoothing filter
R 1 (4) inductance, the smoothing filter capacitor and the resistive
H CR ( s) = T
R τ1  2ξτ 1 1 2   2ξ  converter load.
s3 +  + 2  s + τ 1 +  s + 1
ω02  0ω ω0   ω0 
In this first voltage regulator version, only the output
voltage uc is taken into account in the control loop [4]. Once
Then, by assuming the inverter as a high gain, the system again, an added filter F2-VR is involved in the voltage
can oscillate and the voluntary oscillation mode operates. At regulator. It permits to control the switching frequency. Its
the oscillation frequency, which is noted f osc , the transfer transfer function is now given by:
function HCR(jω) creates a phase rotation of –180 degrees. s
So, when assuming the HCR(jω)’s imaginary part to be equal 1+
ω np
to zero, a relation, between the oscillation frequency f osc F2 −VR ( s) = (7)
and the others parameters, can be defined as follow [7]: s 2
2ξ
+ s +1
ω 02 ω0
f osc ω osc 2ξ f
= = 1+ = 1 + 2ξ c1 (5)
f0 ω0 ω0 τ1 f0 This second order transfer function involves a low-pass
filter and a band-pass filter where ωnp is close to the LC
Now, by comparing the F1-CR’s cut-off frequency fc1, which smoothing filter natural frequency. As, at a high frequency,
the phase shift of the filter F1-VR tends to –180 degrees, there
is function of the time constant τ 1 , with the F2-CR’s natural
is an excess of –90 degrees in comparison with the filter F1-CR
frequency, it can be find that the maximum converter involved in the current regulation. So, in order to recover a
switching frequency mainly depends on the filter F2-CR. similar current regulator’s operating mode, the band-pass
Therefore the oscillation frequency is slightly sensitive to the filter is added to the transfer function F2-VR(s). The
load electrical parameters. numerator, of the transfer function F2-VR(s), permits to get a
phase shift, which is close to +90 degrees when the
III. VOLTAGE REGULATOR frequency is close to ω0. Therefore, the phase shift, which is
due to the filter transfer functions F1-VR(s) and F2-VR(s),
A. Novel technique of output converter voltage control always crosses –180 degrees when operating at high
frequencies. Consequently, the transfer function HVR(s) of the
Here, the first version [4] of the voltage regulator is linear part of the system, which is involved in the converter
presented. The next scheme illustrates the power converter voltage control, acts in the same way as the HCR(s)’s current
and its control loop:
regulator does. Thus, at the frequency ω0 the phase shift of
HVR(s) is close to –180 degrees too.
L
uref + ε u uc Rs This modulator permits to get excellent results [4]. But, in
− C
some industrial applications, the needed bandwidth can reach
LC filter
a couple of kiloHertz. Sometimes a phase shift, as low as few
Power stage Load
F1−V R (s) degrees, is requested at such frequencies. Such specifications
are requested in active loads involved in automotive
Kv electronics tests [5]. In the followings, a second version of
filter sensor this novel voltage regulator is investigated in order to comply
F2−V R (s)
with such specifications.
Fig.2. Basic scheme of the first voltage regulator
B. Investigated voltage regulator
The LC low-pass filter cell is added to the inverter in order
to smooth the high frequency components. The transfer Here, the second version of the previous voltage regulator
function of this LC cell involved in the voltage regulator is is investigated. The new goal is to target some specifications
now noted F1-VR(s). It is a second order low-pass filter, whose such as tracking a sine wave whose frequency equals 800Hz

2839
with a couple of degrees of phase shift and a couple of dB of Kv and the current sensor gains RT, then it is possible to
attenuation. The next scheme illustrates the output voltage deduce the following formulas, where ωnp is greater than
feedback control where three loops are involved in. Here, the ω0LC and lower than ω0:
filter, which makes the system enter in the voluntary
oscillation mode, is noted F2. It is the current regulator one. K u = 1
Thereby, the frequency switching depends on the inner  (12)
current loop where the F2’s filter is implemented: K = Kv
 i
RT C ω np

1 (8)
F2 ( s) =
2
s 2ξ Thereafter, if the F2’s filter is removed in order to make an
+ s +1
ω0 ω0 easier investigation of the system at frequency values close to
is the switching frequency, then the open loop transfer function
F1 (s) is given by:
uref + ε u + 1
il + −
1 uc
Kv Ls Cs
− −
u fb
≈ K (s I − A ) B u
−1
uf b Relay H ( s) = (13)
u is = 0
Ki RT
filter
where K = [RT K i K v K u ].
sensor
− + F2 (s)
Ki RT
+
sensor
Ku Kv Then, assuming that there is not high frequency component
sensor
in the measured load current, assuming that at high frequency
values the capacitor acts as a short circuit, and assuming that
Fig.3. Improved voltage regulator scheme the higher frequency components (due to the self oscillation)
This previous figure shows that the output converter go through the inner loop, the formula of H(jω) becomes:
current, which goes through the load, is taken into account
too. Now, the state variables uc and il depicts the voltage K Bu
capacitor and the coil current. The next formula gives the H ( jω ) ω → ∞ ≈ (14)
jω
relation between them, where the load current, noted is, is
assumed to be a disturbance:
So, when removing the filter F2 and considering a
x = A x + Bu u + Bs is (9) frequency close or equal to the natural frequency of this
filter, as the K by Bu product is a positive constant, the phase
with: shift of (14) tends to –90 degrees. Now, by locating the filter
i  0 −1  1  0 F2 at the feedback path end, it is possible to get a phase shift
x= l  A=1 L Bu =  L  Bs =  −1  (10) close to –180 degrees at such a frequency. Then, taking into
u c   C 0
  0   C 
account the voltage error detector phase shift, the system
oscillates. Without load, the oscillation frequency is given
Then, by inspecting the previous figure and removing the by:
filter F2, it can be deduced that it looks as a sliding mode
ωosc = ω0 (ω0 − ωnp ) (15)
command scheme. As the signals, related to the state
variables, go to the error detector through simple gains, the
sliding surface is a linear combination of them. Because the The Fig.4 illustrates the magnitude and phase of the open
system to be controlled is a second order one and as Bhüler loop transfer function H(jω), when using the parameter
described [8], a placement of the poles permits to get a first values given in the table 1 and using three values of ωnp. The
order close loop transfer function of the whole system. It is F2‘s natural frequency is assumed to be equal to 20kHz. The
given by: oscillation frequency fosc is very close to F2‘s natural
uc 1 (11) frequency. When increasing the value of ω np , the value of
T (s) = =
u ref  s  fosc decreases a little bit. The Fig.5 shows this modification of
 + 1 the oscillation frequency. It is close to the F2‘s natural
ω 
 np  frequency when ω np /ω0LC is chosen lower than 2.2. Using
the expression (15), another formula can be deduced for
Now, in order to get a unitary ratio between the converter easily calculate the filter F2‘s natural frequency:
output voltage and the input reference, the parameter Ku
equals unity. This simplifies the followings. Thus, applying
ω np + 2ωosc
the works of Bhüler [8], targeting the previous close loop ω0 ≈ (16)
transfer function, taking into account the voltage sensor gain 2

2840
 This formula permits to get a good approximated value of As the transfer function H(s) is a low-pass filter and the
the wanted oscillation frequency. components, whose frequencies are greater than ωosc, are
strongly attenuated, then the equation (17) can be simplified.
Just the first term (n=1) can be kept. Using the oscillation
100
ωnp=0.5ω0lc frequency ωosc given by the equation (15) and assuming that
M agnitude (dB )

ωnp=1.5ω0lc
50
ωnp=3.0ω0lc
the smoothing filter frequency is lower than the natural
0 frequency of the filter F2 ( ω0 LC << ω0 ), it comes:
-50

1 ξ ω np (ω 0 − ω np )
-100 2 3 4 5
G eq ≈ ≈ (18)
− 2ℜe{H ( jω osc )}
10 10 10 10
Frequency (rad/s) ω 02LC
90
ωnp=0.5ω0lc
0 ωnp=1.5ω0lc Now, concerning the stability of the close loop system, the
Phas e (deg)

-90
ωnp=3.0ω0lc
BLACK plot of Geq.H(jω) shows that it is adequate when
ω np / ω 0 LC varies between 1 and 4. Even if the phase
-180
margins are not so great, there is no unwanted instability
-270 2
10 10
3
10
4
10
5
when taking into account these values.
Frequency (rad/s)
5
Fig.4. BODE plot of H(jω)

0
ω =4ω
np 0LC
Gain (dB)
Fosc = 12167 Hz
ωnp=3ω0LC
F = 14528 Hz
osc

−5 ωnp=2ω0LC
Fosc = 16554 Hz

ωnp=ω0LC
F = 18361 Hz
osc

−10
−200 −195 −190 −185 −180 −175 −170 −165 −160
Fig.5. Normalised oscillation frequency versus ωnp/ωOLC ratio. Phase (deg)

Fig.6. BLACK plot of the linear open loop transfer Geq.H(jω)

C. Linear model and stability analysis
Using the experimental values, then ωnp equals 2.75 times
In order to check the good behaviour of this new regulator,
an investigation of its linear model is done using the ωOLC and the equivalent gain Geq equals 11.8. Thus the close
loop static gain equals 0.93. Now, concerning the dynamic
Tsypkin’s method [9]. Thereby, the power stage can be
behaviour, it is possible to find the close loop transfer
replaced by a simple gain. This linearization is the same as
function of the system when neglecting the filter F2. Indeed,
for natural modulation (triangular carrier), where the
it only acts at high frequencies. When replacing the non-
equivalent gain depends on the amplitude of the triangular
high frequency carrier and the DC bus voltage. Here, the linear stage by a linear one, whose gain is given by (18), this
carrier is the feedback signal oscillation component, which transfer function is given by:
depends on the DC bus voltage of the power stage and the
attenuation due to the linear part. As the demonstration is  G eq  1
Tc ( s ) =   (19)
long, it is not presented in this paper, but the complete 1 + G  s 2 2ξ c s
demonstration is given in [10] and [11]. Finally, this gain can  eq  + +1
be determined by using the next formula [11], which only ωc
2
ωc
depends on the linear part of the system: where:
1 (17) 1 + Geq ω c Geq
Geq = ∞ ωc = and ξc = (20)
2∑ (− 1) ℜe{H (n jω osc )}
n LC 2(1 + Geq )ω np
n =1
As the value of the gain Geq is great enough, then the
where H(s) is given by the equation (13). formula (19) tends to the formula (11) got in sliding mode.

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 IV. SIMULATED AND EXPERIMENTAL RESULTS Now, the converter is unloaded and feeds a 800Hz wave
whose amplitude equals 70V. Thus, taking into account the
In order to confirm the performances of this new voltage sliding model and the equation (11), if ωnp equals 2.75 times
regulator, an electronics board has been designed. The ωOLC, then the theoretical phase shift equals -7.41 degrees.
system and board parameters are given in table 1. On the first The simulated results illustrate (not shown here) a phase
hand, the system is checked when the voltage-regulated shift, which equals –7.1 degrees, thereby a value very close
converter is loaded or not. This permits to verify the to the sliding mode one. The results also illustrates (not
oscillation frequency and the dynamic behaviour of the shown here) an attenuation of 7% of the gain value, which
system in case of large transients. In the other hand, a matches the static gain of equation (19). As the error is
rectifier load is connected to the output of the converter. This constant in the system bandwidth, it could be possible to
makes it possible to do other tests of the power source. compensate it by adding a setting gain.

A. Unloaded or loaded converter Concerning the oscillation frequency, the experimental

spectrum indicates a line located around 16kHz, when the
Here, a reference, whose frequency and amplitude ωnp/ω0LC ratio equals 2.75. In such a case, the Fig.5 indicates
respectively equal 800Hz and 40V, is used. The DC voltage that the oscillation frequency is near 75% of the natural
bus is tuned to 100V. The output voltage, compared with the frequency of the filter F2. Therefore, the theoretical value is
reference, is got by simulation and experimentation. It is 15kHz. So, the theoretical and experimental values match.
illustrated by the next figures. They confirm the excellent Furthermore, the spectrum shows a noise which is lower than
behaviour of the system under control of the voltage –45dB, then it indicates a good linearity of the voltage
regulator, even if large transients occur. regulated converter.

50 100
uref 0dB
40 80

uc
30 60
Reference and output voltage in [ V ]

is -20dB
20 40
Load Current in [ A ]

10 20

-40dB
0 0

-10 -20
-60dB
-20 -40

-30 -60

-40 -80

-50 -100
0 0.5 1 1.5 2 2.5 3 0Hz 5kHz 10kHz 15kHz 20kHz 25kHz
Time in [ms]

Fig.7. Unloaded and loaded (R=1Ω) simulated result when tracking a 800Hz Fig.9. Experimental spectrum when tracking a 800Hz 70V reference
40V reference
B. Rectifier Load
uref uc
10V Now, a non-linear load is connected to the power converter.
20A is This load involves a rectifier loaded by a smoothing
Waveform
capacitor Cr (whose value equals 1000µF) and a resistor Rr
12:04:37 06/07/2006
_________________________________
Y-scale 200.00 mV/div
(whose value equals 5.4Ω). The DC bus voltage is tuned to
Y-offset 0.0000 mV 100V, the reference amplitude and frequency are respectively
_________________________________ tuned to 40V and 200Hz. It can be viewed on the following
X-scale
X-offset
300.00 us/div
0.0000 s
figure, that the output voltage well tracks the reference, even
if the input rectifier current varies and reaches 20A. As, the
experimental frequency is 200Hz, it is easier to track a 50Hz
X-size 512
_________________________________

or 60Hz voltage reference. So, this voltage-regulated

Maximum 824.16 mV
Minimum -834.78 mV

converter could be use as UPS.

Fig.8. Unloaded and loaded (R=1Ω) experimental result when tracking a
800Hz 40V reference

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 uref(t) TABLE 1
SYSTEM AND LOADS PARAMETERS
uc(t) 20
10 Parameter Description Value
il(t)
L Filter inductance 200µH
Waveform 17:05:21 09/03/2006
_________________________________ C Filter capacitance 25µF
Y-scale 5.0000 V/div

0.000 mV
ξ Damping factor of F2(s) 0.707
Y-offset

_________________________________
ω0 Natural pulsation of F2(s) 2π20000 rad/s
X-scale 1.00 ms/div
Kv Voltage sensor 1/100
RT Current sensor 0.27V/A
Ki Feedback current gain 1.036
_________________________________
(fnp=6150Hz)
Ku Feedback voltage gain 1.00
Maximum 5.6273 V

Minimum -5.3281 V

Rr Rectifier Load resistor 5.4Ω

Cr Rectifier output capacitor 1000µF
Fig.10. Experimental result when using a rectifier.
V. REFERENCES
C. Square wave tracking

In short, in order to test the dynamic and the stability of the [1] V.I. Utkin, J. Guldner and J. Shi, Sliding Mode Control
regulator, a square wave, whose amplitude and frequency in Electro-mechanical Systems, CRC Press, 1999.
respectively equal 20V and 400Hz, is used. The DC bus [2] S. Buso, S. Fasolo, L. Malesani and P. Mattavelli, "A
voltage is tuned to 60V. Dead-Beat Adaptive Hysteresis Current Control," IEEE
Trans. Industrial Applications, vol. 36, no. 4, July 2000,
pp. 1174-1180.
[3] A.B. Rey, S. de Pablo, J.M. Ruiz and J.A. Ravelo, "A
novel current control strategy for PWM inverters using
the sliding mode techniques," in Proceedings of the
5V
2000 IEEE International Power Electronics Congress,
Waveform 10:04:51 13/03/2006
_________________________________
pp. 276-279.
Y-scale 500.00 mV/div [4] J.C. Le Claire, "A new resonant voltage controller for
Y-offset 0.000 mV
fast AC voltage regulation of a single phase DC/AC
_________________________________ power converter," in Proceedings of the 2002 Power
X-scale 500.00 us/div
Conversion Conference, Osaka, Japan, vol.3, pp. 1067-
1072.
[5] N. Ginot, J.C. Le Claire, L. Loron, "Active loads for
Hardware in the loop emulation of Electro-technical
_________________________________

Maximum 2.0660 V

Minimum -2.0638 V bodies," in Proceedings of the 2005 IECON conference,

Fig.11. Response to a square wave attack.
The dynamic behaviour is excellent. There is no overshoot
and the static error is low. During transients, i.e. when the
output voltage goes from –20V to +20V and vice-versa, the
loop is open. Thus, the power devices stop to switch. Such a
test is done in order to look for instabilities. The system is
perfectly stable. Even if the inverter stop to switch, i.e. the
system saturates, there is no trouble.
IV. CONCLUSION
This works presents a modulator, which permits to regulate
the output voltage of a power converter and to track sinus or
square wave references whose frequency equals 800Hz and
400Hz. In the next future, this voltage regulator will be
implemented in non-linear voltage sources of a couple of
100kVA, where the necessary bandwidth will equal 1500Hz.
These sources will be used for automotive tests. They will act
as active loads for hardware in the loop emulation.
Raleigh, North Carolina, USA, 6-10 Nov. 2005.
[6] J.C. Le Claire, J. Saillard, S. Siala and R. Le Doeuf,
"Method and Device for Controlling Switches in a
Control System with Variable Structure, with
Controllable Frequency," U.S. patent number
6,376,935, Apr. 2002.
[7] J.C. Le Claire, S. Siala, J. Saillard and R. Le Doeuff, "A
new pulse modulation for voltage supply inverter's
current control," in Proceedings of the 8th European
Conference on Power Electronics and Applications,
Lausanne, Switzerland, Sep. 1999.
[8] H. Bühler, Réglage par mode de glissement, vol. 5,
Presses Polytechnique Romandes, 1986.
[9] Ja. Z. Tsypkin, Relay Control Systems, Cambridge
University Press, 1984.
[10] J.F. Yhuel, Current control of alternative current
machines, Thesis of the University of Nantes, France,
2001.
[11] I. Boiko, "Input-output analysis of limit cycling relay
feedback control systems," in Proceedings of the
American Control Conference, California, Jun 1999.

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