Fundamentals of Power Electronics Chapter 1: Introduction

1
Fundamentals of Power Electronics
Robert W. Erickson
University of Colorado, Boulder
Fundamentals of Power Electronics Chapter 1: Introduction
2
Chapter 1: Introduction
1.1. Introduction to power processing
1.2. Some applications of power electronics
1.3. Elements of power electronics
Summary of the course
Fundamentals of Power Electronics Chapter 1: Introduction
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1.1 Introduction to Power Processing
Dc-dc conversion: Change and control voltage magnitude
Ac-dc rectification: Possibly control dc voltage, ac current
Dc-ac inversion: Produce sinusoid of controllable
magnitude and frequency
Ac-ac cycloconversion: Change and control voltage magnitude
and frequency
Switching
converter
Power
input
Power
output
Control
input
Fundamentals of Power Electronics Chapter 1: Introduction
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Control is invariably required
Switching
converter
Power
input
Power
output
Control
input
Controller
reference
feedback feedforward
Fundamentals of Power Electronics Chapter 1: Introduction
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High efficiency is essential
High efficiency leads to low
power loss within converter
Small size and reliable operation
is then feasible
Efficiency is a good measure of
converter performance 0 0.5 1 1.5
0.2
0.4
0.6
0.8
1
P
loss
/ P
out

=
P
out
P
in
P
loss
= P
in
P
out
= P
out
1

1
Fundamentals of Power Electronics Chapter 1: Introduction
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A high-efficiency converter
A goal of current converter technology is to construct converters of small
size and weight, which process substantial power at high efficiency
Converter
P
in
P
out
Fundamentals of Power Electronics Chapter 1: Introduction
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Devices available to the circuit designer
DT
s
T
s
Resistors Capacitors Magnetics Semiconductor devices
linear-
mode
+

switched-mode
Fundamentals of Power Electronics Chapter 1: Introduction
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Devices available to the circuit designer
DT
s
T
s
Resistors Capacitors Magnetics Semiconductor devices
linear-
mode
+

switched-mode
Signal processing: avoid magnetics
Fundamentals of Power Electronics Chapter 1: Introduction
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Devices available to the circuit designer
DT
s
T
s
Resistors Capacitors Magnetics Semiconductor devices
linear-
mode
+

switched-mode
Power processing: avoid lossy elements
Fundamentals of Power Electronics Chapter 1: Introduction
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Power loss in an ideal switch
Switch closed: v(t) = 0
Switch open: i(t) = 0
In either event: p(t) = v(t) i(t) = 0
Ideal switch consumes zero power
+
v(t)

i(t)
Fundamentals of Power Electronics Chapter 1: Introduction
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A simple dc-dc converter example
Input source: 100V
Output load: 50V, 10A, 500W
How can this converter be realized?
+

R
5
+
V
50V

V
g
100V
I
10A
Dc-dc
converter
Fundamentals of Power Electronics Chapter 1: Introduction
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Dissipative realization
Resistive voltage divider
+

R
5
+
V
50V

V
g
100V
I
10A
+ 50V
P
loss
= 500W
P
out
= 500W P
in
= 1000W
Fundamentals of Power Electronics Chapter 1: Introduction
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Dissipative realization
Series pass regulator: transistor operates in
active region
+

R
5
+
V
50V

V
g
100V
I
10A
+ 50V
P
loss
500W
P
out
= 500W P
in
1000W
+

linear amplifier
and base driver
V
ref
Fundamentals of Power Electronics Chapter 1: Introduction
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Use of a SPDT switch
+

R
+
v(t)
50V

1
2
+
v
s
(t)

V
g
100V
I
10A
v
s
(t)
V
g
DT
s
(1D) T
s
0
t
switch
position:
1 2 1
V
s
= DV
g
Fundamentals of Power Electronics Chapter 1: Introduction
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The switch changes the dc voltage level
D = switch duty cycle
0 D 1
T
s
= switching period
f
s
= switching frequency
= 1 / T
s
V
s
=
1
T
s
v
s
(t) dt
0
T
s
= DV
g
DC component of v
s
(t) = average value:
v
s
(t)
V
g
DT
s
(1 D) T
s
0
t
switch
position:
1 2 1
V
s
= DV
g
Fundamentals of Power Electronics Chapter 1: Introduction
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Addition of low pass filter
Addition of (ideally lossless) L-C low-pass filter, for
removal of switching harmonics:
+

R
+
v(t)

1
2
+
v
s
(t)

V
g
100V
i(t)
L
C
P
loss
small
P
out
= 500W P
in
500W
Choose filter cutoff frequency f
0
much smaller than switching
frequency f
s
This circuit is known as the buck converter
Fundamentals of Power Electronics Chapter 1: Introduction
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Addition of control system
for regulation of output voltage
(t)
T
s
dT
s
t
+

+
v

v
g
Switching converter Power
input
Load

+
compensator
v
ref
reference
input
Hv
pulse-width
modulator
v
c
transistor
gate driver

G
c
(s)
H(s)
v
e
error
signal
sensor
gain
i
Fundamentals of Power Electronics Chapter 1: Introduction
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The boost converter
+

L
C R
+
V

1
2
V
g
D
0 0.2 0.4 0.6 0.8 1
V
5V
g
4V
g
3V
g
2V
g
V
g
0
Fundamentals of Power Electronics Chapter 1: Introduction
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A single-phase inverter
1
2
+

load
+ v(t)
2
1
V
g
v
s
(t)
+
t
v
s
(t) H-bridge
Modulate switch
duty cycles to
obtain sinusoidal
low-frequency
component
Fundamentals of Power Electronics Chapter 1: Introduction
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1.2 Several applications of power electronics
Power levels encountered in high-efficiency converters
less than 1 W in battery-operated portable equipment
tens, hundreds, or thousands of watts in power supplies for
computers or office equipment
kW to MW in variable-speed motor drives
1000 MW in rectifiers and inverters for utility dc transmission
lines
Fundamentals of Power Electronics Chapter 1: Introduction
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A computer power supply system
v
ac
(t)
i
ac
(t)
Rectifier
dc link
Dc-dc
converter
loads
regulated
dc outputs
ac line input
85-265Vrms
+

Fundamentals of Power Electronics Chapter 1: Introduction

22
A spacecraft power system
Solar
array
+
v
bus

Batteries
Battery
charge/discharge
controllers
Dc-dc
converter
Payload
Dc-dc
converter
Payload
Dissipative
shunt regulator
Fundamentals of Power Electronics Chapter 1: Introduction
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A variable-speed ac motor drive system
3ac line
50/60Hz
Rectifier
Dc link
+
v
link

Inverter
Ac machine
variable-frequency
variable-voltage ac
Fundamentals of Power Electronics Chapter 1: Introduction
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1.3 Elements of power electronics
Power electronics incorporates concepts from the fields of
analog circuits
electronic devices
control systems
power systems
magnetics
electric machines
numerical simulation
Fundamentals of Power Electronics Chapter 1: Introduction
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Part I. Converters in equilibrium
i
L
(t)
t
0 DT
s
T
s
I
i
L
(0)
V
g
V
L
i
L
(DT
s
)
i
L
V
L
v
L
(t)
V
g
V
t
V
D'T
s
DT
s
switch
position:
1 2 1
R
L
+

V
g
D' R
D
+
D' V
D
D R
on
R
+
V

I
D' : 1
Inductor waveforms Averaged equivalent circuit
D
R
L
/R = 0.1
0.02
0.01
0.05
0.002
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
0%
10%
20%
30%
40%
50%
60%
70%
80%
90%
100%
Predicted efficiency
Discontinuous conduction mode
Transformer isolation
Fundamentals of Power Electronics Chapter 1: Introduction
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Switch realization: semiconductor devices
Collector
p
n
-
n n
p p
Emitter
Gate
n n
minority carrier
injection
collector
emitter
gate
The IGBT
t
i
L
V
g
0
i
B
(t)
v
B
(t)
area
Q
r
0
t
r
t
i
L
V
g
0
i
A
(t)
v
A
(t)
Q
r
0
t
area
~Q
r
V
g
area
~i
L
V
g
t
r
t
0
t
1
t
2
transistor
waveforms
diode
waveforms
p
A
(t)
= v
A
i
A
Switching loss
Fundamentals of Power Electronics Chapter 1: Introduction
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Part I. Converters in equilibrium
2. Principles of steady state converter analysis
3. Steady-state equivalent circuit modeling, losses, and efficiency
4. Switch realization
5. The discontinuous conduction mode
6. Converter circuits
Fundamentals of Power Electronics Chapter 1: Introduction
28
Part II. Converter dynamics and control
+

+
v(t)

v
g
(t)
Switching converter Power
input
Load

+
R
compensator
G
c
(s)
v
ref
voltage
reference
v
feedback
connection
pulse-width
modulator
v
c
transistor
gate driver
(t)
(t)
T
s
dT
s t t
v
c
(t)
Controller
t
t
gate
drive
actual waveform v(t)
including ripple
averaged waveform <v(t)>
T
s
with ripple neglected
+

I d(t) v
g
(t)
+
L
V
g
V d(t)
+
v(t)

R C
I d(t)
1 : D D' : 1
Closed-loop converter system Averaging the waveforms
Small-signal
averaged
equivalent circuit
Fundamentals of Power Electronics Chapter 1: Introduction
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Part II. Converter dynamics and control
7. Ac modeling
8. Converter transfer functions
9. Controller design
10. Ac and dc equivalent circuit modeling of the discontinuous
conduction mode
11. Current-programmed control
Fundamentals of Power Electronics Chapter 1: Introduction
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Part III. Magnetics

i
i
3i
2i
2i
2
c
u
r
r
e
n
t
d
e
n
s
i
t
yJ
d
layer
1
layer
2
layer
3
0
0.02
0.04
0.06
0.08
0.1
Switching frequency
B
m
a
x

(
T
)
25kHz 50kHz 100kHz 200kHz 250kHz 400kHz 500kHz 1000kHz
P
o
t

c
o
r
e

s
i
z
e
4226
3622
2616
2213
1811 1811
2213
2616
n
1
: n
2
: n
k
R
1
R
2
R
k
i
1
(t)
i
2
(t)
i
k
(t)
L
M
i
M
(t)
transformer
design
transformer
size vs.
switching
frequency
the
proximity
effect
Fundamentals of Power Electronics Chapter 1: Introduction
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Part III. Magnetics
12. Basic magnetics theory
13. Filter inductor design
14. Transformer design
Fundamentals of Power Electronics Chapter 1: Introduction
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Part IV. Modern rectifiers,
and power system harmonics
100%
91%
73%
52%
32%
19%
15% 15%
13%
9%
0%
20%
40%
60%
80%
100%
1 3 5 7 9 11 13 15 17 19
Harmonic number
H
a
r
m
o
n
i
c

a
m
p
l
i
t
u
d
e
,
p
e
r
c
e
n
t

o
f

f
u
n
d
a
m
e
n
t
a
l
THD = 136%
Distortion factor = 59%
Pollution of power system by
rectifier current harmonics
R
e
(v
control
)
+

v
ac
(t)
i
ac
(t)
v
control
v(t)
i(t)
+

p(t) = v
ac
2
/ R
e
Ideal rectifier (LFR)
ac
input
dc
output
boost converter
controller
R v
ac
(t)
i
ac
(t)
+
v
g
(t)

i
g
(t)
i
g
(t) v
g
(t)
+
v(t)

i(t)
Q
1
L
C
D
1
v
control
(t)
multiplier
X
+

v
ref
(t)
= k
x
v
g
(t) v
control
(t)
R
s
v
a
(t)
G
c
(s)
PWM
compensator
v
err
(t)
A low-harmonic rectifier system
Model of
the ideal
rectifier
Fundamentals of Power Electronics Chapter 1: Introduction
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Part IV. Modern rectifiers,
and power system harmonics
15. Power and harmonics in nonsinusoidal systems
16. Line-commutated rectifiers
17. The ideal rectifier
18. Low harmonic rectifier modeling and control
Fundamentals of Power Electronics Chapter 1: Introduction
34
Part V. Resonant converters
L
+

V
g
C
Q
1
Q
2
Q
3
Q
4
D
1
D
2
D
3
D
4
1 : n
R
+
V

0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
M

=

V

/

V
g
F = f
s
/ f
0
Q = 20
10
5
3.5
2
1.5
1
0.75
0.5
0.35
Q = 0.2
Q = 20
10
5
3.5
2
1.5
1
0.75
0.5
0.35
Q = 0.2
The series resonant converter
Dc
characteristics
conducting
devices:
t
V
g
v
ds1
(t)
Q
1
Q
4
D
2
D
3
turn off
Q
1
, Q
4
commutation
interval
X
Zero voltage
switching
Fundamentals of Power Electronics Chapter 1: Introduction
35
Part V. Resonant converters
19. Resonant conversion
20. Quasi-resonant converters