ECEN5807

ECEN5807
Modeling and Control of Power Electronic Systems
1
Instructor: Dragan Maksimovic
Office: OT346, 303-492-4863, maksimov@colorado.edu
Office hours
Monday 2-4 pm
Class blog available for questions and comments related to HWassignments and
course materials
Email questions will be answered within 48 hours (working days). Please use 5807
in the subject line
Course web site:
http://ecee.colorado.edu/~ecen5807
Announcements, course materials, assignments, links to blog and D2L
Textbook:
Erickson and Maksimovic, Fundamentals of Power Electronics, 2
nd
edition,
Springer 2000
On-line course lectures:
Accessible through CAETE (caete.colorado.edu)
ECEN5807
ECEN5807 blog
Linked on the course website
An invitation to contribute to the blog has been sent
via e-mail to your colorado.edu address
Use the blog to post questions or comments related to HW assignments or course materials
ECEN5807
Required Software
Spice simulator
free LTspice is a recommended Spice simulator
MATLAB/Simulink + Control Systems Toolbox + Simulink Control Design
Software is available to on-campus students on Power Lab and Circuits Lab
computers
Student version is sufficient
The course website includes more details and LTspice and
MATLAB/Simulink materials, including introductory step-by-step notes
ECEN5807
4
Assignments
Weekly homeworks (13 total), 52% of the grade
HW1 will be assigned on Friday this week
Midterm exam (open book/notes, take-home), 16% of the grade
Final exam (open book/notes, take-home), 32% of the grade
HW assignments and due dates posted on the course web site
Desire2Learn (D2L) on-line system
All work must be uploaded via D2L. Hand-written work must be scanned
and uploaded as a single, easily readable pdf file
HW and exam scores, as well as solutions will be posted on D2L
Due dates/times are the same for all students are enforced
electronically by the D2L system
ECEN5807
Power Electronics Program at CU Boulder
5
ECEN5797
Introduction to Power
Electronics
ECEN5807
Modeling and Control of PE
Systems
ECEN5817
Resonant and Soft-Switching
Techniques in PE
ECEN5517
Power Electronics Lab
Fall semesters
Spring semesters
Alternate Spring semesters (2014)
Alternate Spring semesters (2013)
Professional
Certificate in
Power
Electronics
ECEN5017
Pwr El for El. Drive Vehicles
ECEN5737
Adjustable Speed AC Drives
Graduate
Certificate in
Electric Drivetrain
Technology
http://ecee.colorado.edu/copec/book/pecert.html
http://mocha-java.uccs.edu/ideate/index.html
ECEN5807
ECEN 5807 topics
1. Introduction to converter modeling and simulation using
MATLAB/Simulink (notes)
2. Averaged-switch modeling and simulation (Section 7.4 and Appendix B)
3. Techniques of design-oriented analysis with switching converter
applications
Middlebrooks extra-element and feedback theorem techniques (Appendix C
and notes)
Input filter design (Chapter 10)
Writing complex converter transfer functions by inspection (notes)
Middlebrooks feedback theorem (notes)
4. Dynamic modeling of converters in discontinuous conduction mode
Averaged switch modeling (Chapter 11 and Appendix B)
Introduction to sampled-data modeling (notes)
6
ECEN5807
ECEN 5807 topics
5. Current-mode control
Averaged modeling of peak current-mode control (Chapter 12)
More accurate models based on sampled-data modeling (notes)
Averaged current-mode control (notes)
6. Modern rectifiers
Power and harmonics in nonsinusoidal systems (Chapter 16)
Pulse-width modulated low-harmonic (i.e. power-factor correction, or PFC)
rectifiers (Chapter 18)
System modeling
Current control techniques
Voltage control techniques
7. Introduction to digital control of switch-mode power converters (notes)
Digital realization of the basic control loop
Discrete-time modeling
Discrete-time compensator design examples
7
ECEN5807
Introduction to Switched-Mode Converter Modeling
using MATLAB/Simulink
MATLAB: programming and scripting environment
Simulink: block-diagram modeling environment inside MATLAB
Motivation:
Powerful environment for system modeling and simulation
More sophisticated controller models, analysis and design tools
But*:
Block-diagram based Simulink models, unidirectional signals
Not a traditional circuit simulator; specialized physics-based Spice
device models or component libraries are not readily available
8
*Various add-ons to Simulink are available to allow traditional circuit diagram
entry and circuit simulations (e.g. SimPowerSystems, PLECS), or to embed
Spice within MATLAB/Simulink environment. These add-ons are not required
and will not be used in ECEN5807.
ECEN5807
Introduction through an example
9
+

PWM
v
c
dT
s
T
s
V
M
i
Load
v
out
v
g
i
g
+
_
R
esr
C
+
_
v
L R
L
R
on1
R
on2
i
C
+
_
v
L
c
i
0
i Load
5
Vg
0.36
Vc
v g
v c
iLoad
v
i
v out
ig
SyncBuck
Scope
v
i
v out
ig
Synchronous buck converter
Simulink model: syncbuck_OL.mdl
Switching model
Averaged model
Small-signal linearization and
frequency responses
Bode Diagram
Frequency (Hz)
10
1
10
2
10
3
10
4
10
5
10
6
-180
-135
-90
-45
0
P
h
a
s
e
(
d
e
g
)
-80
-60
-40
-20
0
20
40
From: vc To: SyncBuck/vout
M
a
g
n
itu
d
e
(
d
B
)
See MATLAB/Simulink page on the course
website (Materials page) for complete step-by-
step details, and to download the example files
ECEN5807
Synchronous Buck Converter
10
+

PWM
v
c
dT
s
T
s
V
M
i
Load
v
out
v
g
i
g
+
_
R
esr
C
+
_
v
L R
L
R
on1
R
on2
i
C
+
_
v
L
c
i
Inputs: v
g
, i
Load
, v
c
Outputs: v
out
, i
g
State variables: v, i
ECEN5807
Converter state equations
11
+

PWM
v
c
dT
s
T
s
V
M
i
Load
v
out
v
g
i
g
+
_
R
esr
C
+
_
v
L R
L
R
on1
R
on2
i
C
+
_
v
L
c
i
( )
( ) ) 0 (
) 1 (
2
1
=
=

+
+
= =
c
c
v i R R
v i R R v
dt
di
L v
out L on
out L on g
L
Load C
i i
dt
dv
C i = =
) 0 (
) 1 (
0 =
=

=
c
c i
i
g
( )
Load esr out
i i R v v + =
State equations Output equations
ECEN5807
Simulink
model
12
0
i Load
5
Vg
0.36
Vc
v g
v c
iLoad
v
i
v out
ig
SyncBuck
Scope
v
i
v out
ig
4
i g
3
vout
2
i
1
v
1
s
i nductor i ntegrator
1
s
capaci tor i ntegrator
v c c
PWM
u y CCMbuck
CCM buck
3
i Load
2
vc
1
vg
dv /dt v
i di/dt
v out
ig
y u
c
c
SyncBuck subsystem block
SyncBuck
subsystem
block
internals
ECEN5807
Synchronous buck (SyncBuck) subsystem
13
4
i g
3
vout
2
i
1
v
1
s
i nductor i ntegrator
1
s
capaci tor i ntegrator
v c c
PWM
u y CCMbuck
CCM buck
3
i Load
2
vc
1
vg
dv /dt v
i di/dt
v out
ig
y u
c
c
Converter
state
equations
Integration of
state variables
Inputs
Outputs
PWM
subsystem
ECEN5807
PWM operation and model
14
c
c
1
c
PWM ramp
Comparator
Add
1
vc
Simulink PWM model
ECEN5807
Converter state equations: embedded MATLAB script
15
4
i g
3
vout
2
i
1
v
1
s
i nductor i ntegrator
1
s
capaci tor i ntegrator
v c c
PWM
u y CCMbuck
CCM buck
3
i Load
2
vc
1
vg
dv /dt v
i di/dt
v out
ig
y u
c
c
Converter
state
equations
( )
( ) ) 0 (
) 1 (
2
1
=
=

+
+
= =
c
c
v i R R
v i R R v
dt
di
L v
out L on
out L on g
L
Load C
i i
dt
dv
C i = =
) 0 (
) 1 (
0 =
=

=
c
c i
i
g
( )
Load esr out
i i R v v + =
u = inputs = [vg c iLoad v i]
y = outputs = [ic/C vL/L vout ig]
u y
ECEN5807
Numerical example
16
+

PWM
v
c
dT
s
T
s
V
M
i
Load
v
out
v
g
i
g
+
_
R
esr
C
+
_
v
L R
L
R
on1
R
on2
i
C
+
_
v
L
c
i
Switching frequency:
f
s
= 1MHz
I
out
= 0
V
g
= 5 V
L = 1 H
R
L
= 10 mO
R
on1
= R
on2
= 20 mO
C = 200 F
R
esr
= 0.8 mO
PWM ramp amplitude
V
M
= 1 V
V
c
= 0.36, D = 0.36
0
i Load
5
Vg
0.36
Vc
v g
v c
iLoad
v
i
v out
ig
SyncBuck
Scope
v
i
v out
ig
Simulink model: syncbuck_OL.mdl
ECEN5807
Numerical example: synchronous buck converter model
17
0
i Load
5
Vg
0.36
Vc
v g
v c
iLoad
v
i
v out
ig
SyncBuck
Scope
v
i
v out
ig
Masking a Simulink subsystem
allows parameterization
Same subsystem model can be
re-used
Models and MATLAB scripts can
be collected in a library
ECEN5807
Switching simulation: open-loop start-up transient
18
v
i
v
out
i
g
Zoom in, 1 s/div 20 s/div