Beruflich Dokumente
Kultur Dokumente
Users Guide
Powersim Inc.
March 2014
Copyright 20092014Carlos III University of Madrid, GSEP Power Electronics Systems Group,
Spain.All rights reserved. No part of this manual may be photocopied or reproduced in any form or by
anymeans without the written permission of Powersim and the Carlos III University of Madrid.
Disclaimer
Powersim Inc. (Powersim) and the Carlos III University of Madrid make no representation or warranty
with respect to the adequacy or accuracy of this documentation or the software which it describes. In no
event will Powersim and the Carlos III University of Madrid or its direct or indirect suppliers be liable for
any damages whatsoever including, but not limited to, direct, indirect, incidental, or consequential
damages of any character including, without limitation, loss of business profits, data, business
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price for the license to the software and documentation.
Powersim Inc.
email: info@powersimtech.com
http://www.powersimtech.com
Table of Contents
CHAPTER 1:
INTRODUCTION
1.1
WhySmartCtrl?
1.2
ProgramLayout
CHAPTER 2:
2.1
FileMenu
2.2
DesignMenu
2.3
ViewMenu
2.4
WindowMenu
2.5
MainToolbar
2.6
ViewToolbar
2.6.1
SmartCtrladditionaltransferfunctions
CHAPTER 3:
3.1
DCDCConverterSingleloop
3.1.1
SingleLoop
11
13
13
13
3.2
DCDCConverterPeakCurrentModeControl
15
3.3
DCDCconverterAverageCurrentModeControl
19
3.4
PowerFactorCorrector
23
3.4.1
PowerStage
31
3.4.2
Graphicpanels
33
3.4.2.1
Oscillatorrampandinternalcompensator
33
3.4.2.2
LineCurrent
33
3.4.2.3
Rectifiedvoltageandexternalcompensatoroutput
34
3.4.3
Multipliers
35
3.4.3.1
Multiplier
35
3.4.3.2
UC3854Amplifiers
36
CHAPTER 4:
4.1
sdomainmodeleditor
37
37
4.1.1
sdomainmodel(equationeditor)
38
4.1.2
sdomainmodel(polynomialcoefficients)
41
4.1.2.1
4.2
PlantWizard
Importfrequencyresponsedatafrom.txtfile
43
46
CHAPTER 5:
51
CHAPTER 6:
DCDC PLANTS
55
6.1
Buck
56
6.2
Boost
59
6.3
BuckBoost
62
6.4
Flyback
65
6.5
Forward
67
CHAPTER 7:
SENSORS.
70
7.1
VoltageDivider
70
7.2
Embeddedvoltagedivider
70
7.3
IsolatedVoltageSensor
71
7.4
ResistiveSensor(PowerFactorCorrector)
71
7.5
ResistiveSensor(PeakCurrentModeControl)
72
7.6
Halleffectsensor
72
7.7
CurrentSensor
72
CHAPTER 8:
MODULATOR
73
8.1
Modulator(PeakCurrentModeControl)
73
8.2
Modulator(PWM)
73
ii
CHAPTER 9:
9.1
COMPENSATORS
75
Singlelooporinnerloop
75
9.1.1
Type3compensator
75
9.1.2
Type3compensatorunattenuated
76
9.1.3
Type2compensator
77
9.1.4
Type2compensatorunattenuated
78
9.1.5
PIcompensator
79
9.1.6
PIcompensatorunattenuated
80
9.2
Outerloopandpeakcurrentmodecontrol
81
9.2.1
Singlepolecompensator
81
9.2.2
Singlepolecompensatorunattenuated
82
9.2.3
Type3regulator
83
9.2.4
Type3compensatorunattenuated
84
9.2.5
Type2compensator
85
9.2.6
Type2compensatorunattenuated
86
9.2.7
PIcompensator
87
9.2.8
PIcompensatorunattenuated
88
89
10.1
Bodeplots
89
10.2
Nyquistdiagram
91
10.3
Transientresponseplot
94
10.4
Steadystatewaveform
97
10.5
Textpanels
98
105
107
109
13.1
Export
109
13.1.1
Exporttransferfunction
109
13.1.2
ExporttoPSIM
110
13.1.3
Exporttransientresponses
114
13.1.4
ExportGlobal.
116
iii
13.2
Import(Merge)
117
13.2.1
AddFunction
119
13.2.2
ModifyFunction
120
123
14.1
KfactorMethod
124
14.2
KplusMethod
125
14.3
Manual
126
14.4
PItuning
127
14.5
SinglePoletuning
128
129
15.1
InputParametersParametric
129
15.2
CompensatorComponentsParametricSweep
133
135
16.1
IntroductiontoDigitalControl
135
16.2
DigitalSettings
135
16.3
Parametricsweepindigitalcontrol
137
16.4
Simulationissueswithdigitalcontrol
138
iv
Introduction
Chapter 1:
Introduction
Introduction
Real time updated results of the frequency response (bode plots), transient
response and the steady state waveforms.
Possibility of importing and exporting any transfer function by means of .txt
files.
2 SmartCtrl
Introduction
SmartCtrl
Introduction
3. Design a generic control system - Equation editor.
SmartCtrl also provides the option of defining the whole system though its
equation editor. And so, help the user though the designing process of any
control problem regardless its nature, for example temperature control,
motor drives, etc
4. Open...
Default file. It opens a pre-designed example.
Recently saved file. It opens the last file the user worked with.
Previously saved file. It opens the folder where user used to save its designs
Sample design. It opens the folder where SmartCtrl examples have been
previously recorded.
Regardless of the selected option, once the converter is completely defined, the main
window of the program is displayed. Different areas are considered within the main
window and all of them are briefly described below:
1. There are six drop-down menus, this is:
File It includes all the functions needed in order to manage files, import
and export files, establish the printer setup and the print options.
View Allows the user to select which elements are displayed and which are
not.
4 SmartCtrl
Chapter 2:
SmartCtrl
6 SmartCtrl
(Ctrl+Shift+U)
(Ctrl+Shift+J)
(Ctrl+Shift+I)
(Ctrl+Shift+K)
(Ctrl+Shift+O)
(Ctrl+Shift+L)
SmartCtrl
8 SmartCtrl
2.6 View To
oolbar
Displlay the frequ
uency respo
onse (Bode pplot) of the plant
transffer function
n
Displlay the frequ
uency respo
onse (Bode pplot) of the sensor
transffer function
n
Displlay the frequ
uency respo
onse (Bode pplot) of the control
to outtput withou
ut compensaator transferr function
Displlay the frequ
uency respo
onse (Bode pplot) of the sensor
comppensator tran
nsfer functio
on
Sm
martCtrl
10 SmartCtrl
2.6.1 SmartC
Ctrl additional tra
ansfer fu
unctions
Gvvvi
vo
vi
vo
Gvvio
io
i
GiL
Lvi L
vi
i
GiL
Lio L
io
GiDvi
iD
vi
SmartCtrl
11
Gtvvi
vo
vi
v
Gtvio o
io
Gtivi Closed loop Input voltage to inductor current or diode current transfer
function
Gtiio Closed loop Output current to inductor current or diode current transfer
function
+
Vin
Vout
Gvio
vo
io
Io
+
Ra
C
Vin
Vout
R
Rb
v
Gtvio o
io
12 SmartCtrl
Vref
Cha
apter 3:
Dessign a prredefine
ed topollogy
DC-D
DC convertter - Single lloop (Voltaage mode co
ontrol and cuurrent modee
Conttrol).
DC-D
DC convertter - Peak cuurrent modee control.
DC-D
DC convertter - Averagge current mode
m
controll.
3.1 DCDC C
Converte
er Single
e loop
3.1.1
1 Single L
Loop
The single loopp is formeed by threee different transfer fu
unctions: pllant, sensorr and
comppensator, whhich must be
b selected ssequentially
y.
The first step too define the system is tthe selection
n of the plaant.The plannt can be eitther a
pre-ddefined onee or a userr own one. This is, th
he user can
n import a generic traansfer
functtion by meaans of a .txt file or selecct one of thee pre-defineed topologiees.
SmartCtrl
13
Buck
Buck-Boost
Boost
Flyback
Forward
Once the plant has been selected, regardless the magnitude to be controlled is voltage or
current, the program will display the appropriate type of sensor.
The different sensors
available are the following:
Voltage Divider.
Embedded Voltage
Divider.
Isolated Voltage
Sensor.
Current Sensor.
Hall Effect Sensor.
14 SmartCtrl
Type 3
Type 3 Unattenuated
Type 2
Type 2 unattenuated
PI
PI unattenuated
Single Pole
Single Pole
unattenuated
Now
w accept thee selected point and coonfirm the design,
d
the program w
will automatically
show
w the perforrmance of th
he system inn terms of frequency
f
response, traansient resp
ponse.
(See Graphic annd text panels window ffor detailed
d information).
3.2 DCDC C
Converte
er Peak C
Current M
Mode Control
Theim
mplementattionofthepe
eakcurrentm
modecontro
olincludesfivvedifferenteelementswh
hich
aredescribedalo
ongthefollow
wingparagraaphs:
DC/DC converter
c
(p
pre-defined topologies)).
Modulattor.
Voltage sensor.
Compennsator.
SmartCtrl
15
Buck
Buck-Boost
Boost
Flyback
Forward
Oncetheplanthasbeenselected,thevalueoftheresistorthatimplementsthecurrentsensor
mustbeset.
Next,themodulatormustbeconfigured(seesection8.1)
16 SmartCtrl
Resistance
Modulators available:
Modulator (Peak
Current Mode Control).
Voltage devider.
Embedded Voltage
Divider
Thelastelementthatmustbesetisthecompensator.
SmartCtrl
17
Regulator types:
Type 3
Type 3 Unattenuated
Type 2
Type 2 unattenuated
PI
PI unattenuated
Finallytheusermustselectthecontrolloopinitialcharacteristics(crossfrequencyandphase
margin),aidedbytheSolutionsMap.Afterthat,clickOKandtheprogramwillautomatically
showthegraphicspanels.
18 SmartCtrl
Buck (LCD-VMC)
Buck-Boost (LCSVMC)
Boost (LCS-VMC)
Boost (DCS-VMC)
Flyback (DCS-VMC)
Forward(LCS-VMC)
Next, the inner control loop will be configured. This is, the current sensor and the
regulator type must be selected.
Current Sensor
Hall Effect Sensor
SmartCtrl
19
Regulator
R
tyypes:
Typee 3
Typee 2
PI
Singlle Pole
Oncee the cross frequency and the ph ase margin have been
n selected, tthe solution
n map
will be shown on the righ
ht of the sside of the DC-DC av
verage currrent controll data
winddow. If, at any
a time, th
he two aforrementioned
d parameterrs need to bbe changed
d, just
clickk on the show
wn solution
n map. (See next figuree).
20 SSmartCtrl
Now
w, the outer loop
l
can be defined.Firrst, the voltaage sensor must
m be seleected.
Voltagee Divider
Embeddded Voltagee
Dividerr
SmartCtrl
21
Com
mpensator ttypes:
Type 3
Type 3 Unattenuatted
Type 2
Type 2 unattenuateed
PI
PI unatttenuated
Single PPole
Single PPole
unattennuated
As w
well as in thhe case of th
he inner looop, the crosss frequency and the phhase margin must
be seelected. Alsso in this caase, the soluutionmap is availablee to help thee selection of an
stablle solution.
Presss the "Soluttion map (o
outer loop)"" button an
nd the soluttion map w
will be displlayed.
Thenn select a pooint just by clicking
c
witthin the white area.
It should be rem
marked thatt, due to staability consstraints, the crossover ffrequency of
o the
outerr loop cannot be greateer than the crossover frequency
f
of the inner loop. In ord
der to
preveent the sellection of an
a outer looop fc greaater than th
he inner looop one, a pink
shadoowed area has
h been inccluded in thhe solutions map of the outer loop..
Oncee the crossoover frequeency and thhe phase maargin have been selectted, the sollution
map will be shoown on the right of thee side of thee DC-DC av
verage curre
rent control input
data window. Iff, at any tim
me, the twoo aforementtioned param
meters needd to be chaanged,
ution map. ((See next figure)
just cclick on the shown solu
22 SSmartCtrl
Now
w accept thhe selected configurattion and co
onfirm the design, thhe program
m will
autom
matically shhow the peerformance of the sysstem in terms of freqquency resp
ponse,
transsient responnse.(See Graaphic and teext panels window
w
for detailed
d
infoormation).
3.4 Power F
Factor Co
orrector
The ppower factoor corrector based on a boost topology has a double
d
conttrol loop, fo
ormed
by ann inner currrent loop an
nd an outer vvoltage mod
de loop. Thee double looop setup mu
ust be
built sequentiallly. The program will gguide you to
t build it, enabling thhe following
g step
and kkeeping eveerything elsee disabled.
The aavailable pllant is a boo
ost converteer. The outeer loop is a voltage
v
modde control, while
the innner loop iss a current controlled
c
onne, and the current is sensed on thhe inductancce.
The ffirst step chhooses betw
ween the twoo types of multiplier
m
an
nd Vrms feeed-forward:
SmartCtrl
23
Depending on the first choice, there are two different options to generate the power
factor corrector.
If the selection is a Generic Multiplier, the current is sensed by the Hall Effect sensor
H(s).
Otherwise, if the selection is UC3854A multiplier, the current sensor is a resistor Rs.
24 SmartCtrl
It is followed by the choice of the plant. The predefined plants are the following:
Next, the inner control loop will be configured: since the current sensor has been
already configured, it is necessary to select the inner loop compensator.
SmartCtrl
25
Com
mpensator tyypes:
Type 3 (It
( is only av
vailable for Multiplier option)
Type 2
PI
26 SSmartCtrl
Oncee the crossoover frequeency and thhe phase maargin have been selectted, the sollution
map will be shhown on the right of the side off the PFC Boost convverter inputt data
a time, th
he two aforrementioned
d parameterrs need to bbe changed
d, just
winddow. If, at any
clickk on the show
wn solution
n map. (See next figuree).
Now
w, the outer loop
l
can be defined. Fiirst, the volttage sensor must be sellected.
The vvoltage sensors availab
ble are the ffollowing:
SmartCtrl
27
Compensator types:
For multiplier option:
Type 3
Type 2
Type 2
Type 2 Unattenuated
PI
PI
PI unattenuated
Single Pole
Single Pole
As well as in the case of the inner loop, the crossover frequency and the phase margin
must be selected. Also in this case, the solution map is available to help the selection of
a stable solution.
Press the "Solution map (outer loop)" button and the solution map will be displayed.
Then select a point just by clicking within the white area.
28 SmartCtrl
It should be rem
marked thatt, due to staability consstraints, the crossover ffrequency of
o the
outerr loop cannot be greateer than the crossover frequency
f
of the inner loop. In ord
der to
preveent the sellection of an
a outer looop fc greaater than th
he inner looop one, a pink
shadoowed area has
h been inccluded in thhe solutions map of the outer loop..
Oncee the crossoover frequeency and thhe phase maargin have been selectted, the sollution
map will be shoown on the right of thee side of thee DC-DC av
verage curre
rent control input
data window. Iff, at any tim
me, the twoo aforementtioned param
meters needd to be chaanged,
just cclick on the shown solu
ution map. ((See next figure)
SmartCtrl
29
Now
w accept thhe selected configurattion and co
onfirm the design, thhe program
m will
autom
matically shhow the perrformance oof the system
m in terms of frequenccy responsee, line
curreent shape... (See Graph
hic panels w
window for detailed
d
info
ormation).
Oncee the designn has been generated,
g
ttwo possiblle warning messages ccan appear in
i the
soluttion map wiindow:
Attenuattion (fsw)(d
dB). This is the attenuattion in dB achieved
a
byy the open lo
oop
transfer function at the switchinng frequenccy. It should
d be low forr the inner loop
and the outer
o
loop.
Attenuattion (2fl)(dB
B) . This is tthe attenuattion in dB achieved
a
by the open lo
oop
transfer function at twice the linne frequenccy (100 Hz or 120 Hz).. It should be
b
high for the inner lo
oop and low
w for the outter loop.
T is the eestimated ou
utput voltag
ge of the connverter. Thiis
Estimateed Vo (V). This
parameteer is important becausee, if the freq
quency gain of the openn loop transfer
function is not high enough, theere will be a steady-staate error andd the estimaated
30 SSmartCtrl
Multiplier
INNER
LOOP
SENSOR
Halleffect sensor
PLANT
BoostPFC(Constantpowerload)
Boost PFC(Resistiveload)
INNER
LOOP
REGULATOR
Type2
Type3
PI
OUTER
LOOP
SENSOR
OUTER
LOOP
REGULATOR
Isolate Vsensor
Type 2
Type 3
PI
SinglePole
H(s)
Voltage divider
UC3854A
Multiplier
Resistive sensor
BoostPFC(Constantpowerload)
Boost PFC(Resistiveload)
Type 2
PI
SinglePole
Type2
PI
Regulator
Embedded
Voltage Divider
Rs
Type 2_unatt
PI_unatt
SinglePole_unatt
SmartCtrl
31
32 SmartCtrl
Polar plot
Line current
SmartCtrl
33
34 SmartCtrl
Usinng feed-forw
ward:
The m
multiplier has
h the follo
owing param
meters:
G of the current
c
referrence for the inner loop
p.
KB Gain
M
gaain.
Km Multiplier
And,, when the use
u of feed-forward is sselected:
Gain of the feed-forwaard. It is th
he ratio betw
ween the rm
ms input vo
oltage
KFF G
a the averrage input vvoltage to th
and
he multiplier.
R
betweeen the ampplitude of th
he first harm
monic of thhe rectified input
1st Ratio
v
and its averagee value.
harm
m.rip.(%) voltage
M
gain.
g
Km Multiplier
SmartCtrl
35
The U
UC3854A multiplier
m
has
h the follow
wing param
meters:
ween the rm
ms input voltage
KFF Gain of thee feed-forwaard. It is thee ration betw
and the aveerage input vvoltage to th
he multiplieer.
g
Km Multiplier gain.
nt reference for the inneer loop (Oh
hms)
Rac Resistance to introducee the curren
rt the multiplier outpu
ut current into a volltage
Rmo Resistance to convert
reference fo
or the inner compensattor (Ohms)
36 SSmartCtrl
Cha
apter 4:
Dessign a ge
eneric to
opology
y
s
s-domain
mo
odel editor.
Im
mport frequ
uency respoonse data fro
om a .txt filee
s
s-domain
mo
odel (equatiion editor)
s
s-domain
mo
odel (polynnomial coeffficients)
SmartCtrl
37
If default option "Bode plot" is selected, the frequency response of the previously
defined transfer function is shown on the right hand side panels.
38 SmartCtrl
To ccheck the gain, phase and rectanggular components of the frequenccy responsee at a
particcular frequeecy, the opttion "One frrequency" iss frequency
y is providedd. As depictted in
the ffollowing figure:
fi
first "one frequuency" musst be selecteed, secondlly the frequ
uency
shouuld be speciified and fin
nally, clickk on compille and the gain,
g
phase and rectan
ngular
compponents at thhe specified
d frequencyy are shown below.
SmartCtrl
39
40 SSmartCtrl
And finally select the cross frequency and the phase margin on the Solutions Map.
SmartCtrl
41
The coefficients of the s-domain transfer function have to be introduced. The maximum
order of the transfer function is 10. The coefficients in the numerator are n0 to n10 and
the coefficients in the denominator are d0 to d10.
It is also possible to introduce the transfer function data by using the option Plant
wizard.
Some additional data must be specified:
The desired output voltage (Vo) in Volts. (Only if the plant is voltage mode
controlled).
42 SmartCtrl
Global block
The Global block corresponds to the definition ofthe variables and expressions that
are common for most coefficients of the transfer function.By clicking on the button
Edit, a new edition box is opened (Edit box), which helps the user to introduce the data
and the equations with the appropriate format.
SmartCtrl
43
Once the equations have been introduced, it is recommended to click the button
Compile. This way, the numerical value of the coefficient is calculated by means of
the mathematical expression in the return assignment, considering all the variables
previously assigned both in the Global block and the Coefficients block.
If the compilation is successful, the numerical value of the selected coefficient will be
displayed in the Value box. Otherwise an error message will appear.
Syntax of the Global block and the Coefficients block:
1. There are two types of instructions: assignment and return.
2. Only one instruction per line is permitted (whether it is assignment or return).
3. Blank lines are allowed.
4. The syntax of the assignment statements is: Var = Expr, where 'Var' is the name
of a variable and 'Expr' represents a mathematical expression.
5. Regarding the variable names in the assignments:
a. They must begin with an alphabetic character.
b. They can consist of alphabetic or numeric characters, or underscore.
c. The names sqrt, pow, return and PI are reserved names that cannot be
used as variable names.
6. Regarding the mathematical expressions:
a. Algebraic expressions are expressions where valid operators are +, -, *,
/.
44 SmartCtrl
Compile: the numerical values of all the coefficients are calculated. If an error
occurs, a message will be displayed.
Save as: the contents of the Global block and the Coefficients block are
stored in a file with extension .trowfun.
Load: the data stored in the files with extension .trowfun is loaded. Therefore,
the Global block and the Coefficients block will be updated with the loaded
information.
View: the content of the Global block and the Coefficients block, as well as
the numerical value of the coefficients, is displayed in a new window.
Once the OK button in pressed, all the coefficients are automatically recalculated. If
an error occurs, a warning message will be displayed. If the calculation is successful,
SmartCtrl
45
SmartCtrl allows the designer to import his own transfer plant function and design an
appropriate control loop. This feature is only available for single loop designs. To
define the imported transfer function the user must specify the intended control type:
Take into account that, wether the imported plant is current mode controlled or voltage
mode controlled, the single loop design process will be the same. The only difference is
related to the available sensors, which are different for each case.
Once the control type has been selected, the file that contains the plant frequency
response must be selected. SmarCtrl is able to load the following file formats: *.dat,
*.txt, *.fra
46 SmartCtrl
Once the file has been selected, the data is loaded to SmartCtrl and the magnitude and
phase are displayed as depicted in the next figure.
And some additional data such as the output voltage (only in voltage mode control) and
the switching frequency must be specified.
Click OK to continue.
Depending upon it is a current mode controlled or voltage mode controlled, the
available sensors are the following:
SmartCtrl
47
Voltage divider
Embedded Voltage
Divider
Isolated V. sensor
Current sensor
Hall effect sensor
Type 3
Unattenuated
Type 2
Type 2
unattenuated
PI
PI unattenuated
Single Pole
Single Pole
unattenuated
Once the system has been defined, SmartCtrl calculates the solutions map in which all
the possible combinations of crossover frequency and phase margin that lead to stable
solutions are shown graphically.
To continue, click on set and the solutions map will be displayed. After that, select a
point within the stable solutions area (white area) and then click OK.
48 SmartCtrl
Now
w confirm thhe design an
nd the proggram will automaticall
a
y show thee performan
nce of
the ssystem in teerms of freequency ressponse, tran
nsient respo
onse. (See G
Graphic and
d text
panels window for
f detailed
d informatioon).
SmartCtrl
49
50 SmartCtrl
Cha
apter 5:
Dessign a ge
eneric ccontrol ssystem
SmarrtCtrl allow
ws the desig
gn of a genneric contro
ol system regardless thhe nature of
o the
systeem, since it is possible to define thhe whole sysstem with th
he equationn editor.
SmartCtrl
51
Click on "Save" to save the mathematical equations in a text file with extension
.tromod
Click on "compile" to continue and the Bode plot will appear on the right side of
the window.
If default option "Bode plot" is selected, the frequency response of the previously
defined transfer function is shown on the right hand side panels.
To check the gain, phase and rectangular components of the frequency response at a
particular frequency, the option "One frequency" is frequency is provided. As depicted
in the following figure: first "one frequency" must be selected, secondly the frequency
should be specified and finally, click on compile and the gain, phase and rectangular
components at the specified frequency are shown below.
52 SmartCtrl
Righht afterwards of the plaant definitionn, the samee process is needed to ddefine the sensor
s
transsfer functionn by means of the equaation editor.
SmartCtrl
53
Once the compensator type is set, the Solutions Map will help the user to select the
phase margin and the crossover frequency.
54 SmartCtrl
DC-DC Plants
P
Cha
apter 6:
DCDC Plan
nts
The D
DC-DC avaailable plantts are the foollowing:
Buck
Boost
Buck-Booost
Flyback
Forward
SmartCtrl
55
DC-DC Plants
6.1 Buck
When a single loop control scheme is used, the magnitude to be controlled in a buck
converter can be either the output voltage or the inductance current. Both possibilities
have been included in SmartCrl. If the control technique is peak current mode control,
the current is sensed in the inductor, as shown in the table. The schematics are shown
below.
VoltageModeControlledBuck
LCurrentSensedBuck
PeakCurrentModeControl
In the case of an average current control scheme, two magnitudes must be sensed
simultaneously, a current and the output voltage. The resultant buck scheme is the
following:
Buck(LCSVMC)
The input data window allows the user to select the desired input parameters and
provides useful information such as the steady state dc operating point. This information
is placed right below the converter image.
Two examples of the input data window are shown below, in each of them, the white
shadowed boxes correspond to the input data boxes while the grey shadowed ones
correspond to the additional information provided by the program.
Please, note that the input data is different in case of a voltage controlled plant (output
voltage is an input) or a current controlled plant (in this case the current to be controlled
is the input data). An example of the input data windows is provided below:
56 SmartCtrl
DC-DC Plants
P
In
nputData WindowoffaVoltage ModeControlledBucck
aWindowoofaPeakC
CurrentModelControll
InputData
In
nputData WindowoffaCurrent ModeControlledBucck
SmartCtrl
57
DC-DC Plants
58 SmartCtrl
DC-DC Plants
6.2 Boost
There are three possible magnitudes to be controlled in the boost converter when a
single loop control scheme is selected. This is the output voltage, the inductor current
and the diode current. The corresponding schematics are the following:
VoltageModeControlledBoostConverter
LcurrentsensedBoostConverter
DiodeCurrentSensedBoostConverter
In the case of a peak current mode control (PCMC), the output voltage and a current
must be sensed simultaneously.
Boost(PCMC)
In the case of an average current control scheme, the output voltage and a current must
be sensed simultaneously. The available plants for an average current mode control are
included below:
Boost(LCSVMC)
Boost(DCSVMC)
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59
DC-D
DC Plants
The input data window allows
a
the uuser to sellect the dessired input parameterss and
proviides useful information
n such as thhe steady staate dc operaating point. T
This inform
mation
is plaaced right below
b
the co
onverter imaage.
Two examples of
o the input data winddow are sho
own below, in each off them, the white
shadoowed boxees correspon
nd to the iinput data boxes
b
while the grey shadowed ones
correespond to thhe additionaal informatioon provided
d by the program.
Pleasse, note thaat the input data is diffe
ferent in casse of a voltaage controllled plant (o
output
voltaage is an inpput) or a currrent controolled plant (in
( this case the currentt to be contrrolled
is thee input dataa). An examp
ple of the innput data windows
w
is provided
p
bellow:
In
nputDataW
Windowof aVoltage ModeConttrolledBooost
an
ndofaPea kCurrentM
ModeControl
In
nputDataW
Windowof aCurrent ModeConttrolledBooost
60 SSmartCtrl
DC-DC Plants
DutyCycle ton/T of the active switch
ILavg Inductance average current (A)
ILmax Maximum value of the inductance switching ripple (A)
ILmin Minimum value of the inductance switching ripple (A)
Ioavg Output average current (A)
Vo Output voltage (V)
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61
DC-DC Plants
6.3 Buckoost
In a single loop control scheme there are three possible magnitudes to be controlled in
the buck-boost converter. This is the output voltage, the inductor current and the diode
current. The corresponding schematics are the following:
VoltageModeControlledBuckBoostConverter
LcurrentsensedBuckBoostConverter
DiodeCurrentSensedBuckBoostConverter
In the case of an average current mode control scheme or a peak current mode control
(PCMC), the magnitudes sensed are the output voltage and the L current.
BuckBoost(LCSVMC)
BuckBoost(PCMC)
The input data window allows the user to select the desired input parameters and
provides useful information such as the steady state dc operating point. This information
is placed right below the converter image.
Two examples of the input data window are shown below, in each of them, the white
shadowed boxes correspond to the input data boxes while the grey shadowed ones
correspond to the additional information provided by the program.
Please, note that the input data is different in case of a voltage controlled plant (output
voltage is an input) or a current controlled plant (in this case the current to be controlled
is the input data). An example of the input data windows is provided below:
62 SmartCtrl
DC-DC Plants
InputDataWindowofaVoltageModeControlledBuckBoost
andforaBuckBoostwithaPeakCurrentModeControl
InputDataWindowofaCurrentModeControlledBuckBoost
The parameters shown in the input data windows are defined below:
Steady-state dc operating point
ConductionMode It can be Continuous or Discontinuous
DutyCycle ton/T of the active switch
ILavg Inductance average current (A)
ILmax Maximum value of the inductance switching ripple (A)
ILmin Minimum value of the inductance switching ripple (A)
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63
DC-DC Plants
Ioavg Output average current (A)
Vo Output voltage (V)
64 SmartCtrl
DC-DC Plants
6.4 Flyback
In a single loop control scheme, the magnitude to be controlled in a Flyback converter
can be either the output voltage or the diode current. Both possibilities have been
included in SmartCtrl. The schematics are shown below:
VoltageModeControlledFlyback
DiodeCurrentSensedFlyback
In the case of a peak current mode control scheme(PCMC), the magnitudes sensed are
the output voltage and the MOSFET current.
Flyback(PCMC)
In the case of an average current mode control scheme, the magnitudes sensed are the
output voltage and the diode current.
Flyback(DCSVMC)
The input data window allows the user to select the desired input parameters and
provides useful information such as the steady state dc operating point. This information
is placed right below the converter image.
Two examples of the input data window are shown below, in each of them, the white
shadowed boxes correspond to the input data boxes while the grey shadowed ones
correspond to the additional information provided by the program.
Please, note that the input data is different in case of a voltage controlled plant (output
voltage is an input) or a current controlled plant (in this case the current to be controlled
is the input data). An example of the input data windows is provided below:
SmartCtrl
65
DC-DC Plants
InputDataWindowofaVoltageModeControlledFlyback
andalsoforaPeakCurrentModeControlTechnique.
InputDataWindowofaCurrentModeControlledFlyback
The parameters shown in the input data windows are defined below:
Steady-state dc operating point
ConductionMode It can be Continuous or Discontinuous
DutyCycle ton/T of the active switch
ILavg Inductance average current (A)
ILmax Maximum value of the inductance switching ripple (A)
ILmin Minimum value of the inductance switching ripple (A)
Ioavg Output average current (A)
Vo Output voltage (V)
Other parameters of the converter
66 SmartCtrl
DC-DC Plants
Vin Input Voltage (V)
RL Equivalent Series Resistor of the Inductance (Ohms)
L Inductance (H)
Rc Equivalent Series Resistor of the output capacitor (Ohms)
C Output Capacitor (F)
R Load Resistor (Ohms)
Po Output Power (W)
FSW Switching frequency (Hz)
(*)N2 is the transformer secondary side number of turns
N1 is the transformer primary side number of turns
6.5 Forward
The magnitude to be controlled in a Forward converter can be either the output voltage
or the inductance current. Both possibilities have been included in SmartCrl. The
schematics are shown below:
VoltageModeControlledForward
LCurrentSensedForward
In the case of a peak current mode control(PCMC) scheme, the magnitudes sensed are
the output voltage and the L current (sensed in the MOSFET).
Forward(LCSVMC)
In the case of an average current mode control scheme, the magnitudes sensed are the
output voltage and the L current.
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67
DC-DC Plants
Forward(LCSVMC)
The input data window allows the user to select the desired input parameters and
provides useful information such as the steady state dc operating point. This information
is placed right below the converter image.
Two examples of the input data window are shown below, in each of them, the white
shadowed boxes correspond to the input data boxes while the grey shadowed ones
correspond to the additional information provided by the program.
Please, note that the input data is different in case of a voltage controlled plant (output
voltage is an input) or a current controlled plant (in this case the current to be controlled
is the input data). An example of the input data windows is provided below:
InputDataWindowofaVoltageModeControlledForward
andforPeakCurrentModeControl.
68 SmartCtrl
DC-DC Plants
InputDataWindowofaCurrentModeControlledForward
The parameters shown in the input data windows are defined below:
Steady-state dc operating point
ConductionMode It can be Continuous or Discontinuous
DutyCycle ton/T of the active switch
ILavg Inductance average current (A)
ILmax Maximum value of the inductance switching ripple (A)
ILmin Minimum value of the inductance switching ripple (A)
Ioavg Output average current (A)
Vo Output voltage (V)
Other parameters of the converter
Vin Input Voltage (V)
RL Equivalent Series Resistor of the Inductance (Ohms)
L Inductance (H)
Rc Equivalent Series Resistor of the output capacitor (Ohms)
C Output Capacitor (F)
R Load Resistor (Ohms)
Po Output Power (W)
FSW Switching frequency (Hz)
(*)N2 is the transformer secondary side number of turns.
N1 is the transformer primary side number of turns
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69
Sensors
Cha
apter 7:
Sen
nsors.
7.1 Voltage
e Divider
The
T Voltagee Divider measures
m
and
d adapts thee output voltage
level to the rregulator vo
oltage refereence level.
Its transfer ffunction corrresponds to
o the follow
wing equatio
on:
K (s)
Vref
Vo
Where:
Vref is thhe compensaator referencce voltage
Vo is thee DC-DC co
onverter outp
tput voltage
7.2 Embedd
ded volta
age divid er
The two resistoors that forrm the volttage dividerr (R11,Rar)) are embeedded withiin the
regullator. So, no
n sensor is
i represent
nted in the correspond
ding box. A
And the vo
oltage
dividder resistorss are highlig
ghted in the compensato
or figure:
Vo
Rar
70 SSmartCtrl
Seensors
7.3 Isolated
d Voltage
e Sensor
The Isolated vooltage senso
or is a volttage sensorr that proviides electriccal isolation. Its
transsfer functionn is described below. IIt is available for the fo
orward and the flyback
k DCDC ttopologies.
n
Gain
s
1
2 fpK
f
gain [dB]
K (s)
20lo
og(K)
20dB/dc
Where:
Gainn
F
Freq
[Hz]
phase [o]
G
Gain is thee sensor gaain at 0dB
B, its
givenn by the output
o
and
d the refereence
voltaage.
0o
45o /dc
Vo
Vref
90o
F
Freq
[Hz]
7.4 Resistiv
ve Sensorr (Powerr Factor C
Correctorr)
If thee current is sensed using a resistoor Rs, the current sensor gain willl be the vallue of
this rresistor: Rs..
K ( s ) Rs
UC385
54A multipliier + Boost PFC
P (resistivee load).
UC3854A
A multiplier + Boost PFC (constant po
ower load).
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71
Sensors
G=Rs
7.6 Hall effect sensor
The Hall effect is a current sensor represented through a generic transfer function box.
Internally, its transfer function corresponds to the following equation:
Gain
s
1
2 fpK
gain [dB]
K ( s)
20log(K)
20dB/dc
Freq [Hz]
phase [o]
Where:
Gain is the sensor gain at 0dB.
fpK is the pole frequency in Hertz
0o
45o /dc
90o
Freq [Hz]
For example, if the current is sensed using a resistor Rs, the current sensor gain will be
the value of this resistor:
K ( s ) Rs
72 SmartCtrl
Modu
ulator
Cha
apter 8:
Mod
dulatorr
8.1 Modula
ator (Peak
k Curren
nt Mode C
Control)
From
m top to botttom, the mo
odulator inpput signals are
a defined as
a follow:
Vramp Is the
V
t characteeristic comp
pensation slo
ope used wiith this typee of
thhis control technique.
t
T
This compeensation slop
pe is added to the senseed
c
current
in orrder to ensuure the systeem stability
y with duty ccycles abov
ve
5
50%.
V
Vsensed
Iss the equivaalent voltagee of the senssed inductorr current.
From
m top to botttom, the mo
odulator dessign criteriaa are defined
d as follow:
S
Sn
The inductor
i
chaarge slope.
S
Sf
The inductor
i
disscharge slop
pe.
Se
S
Is thee slope of thhe compensation ramp, it is compuuted as funcction
o Sn and S
of
A
Att
8.2 Modula
ator (PWM
M)
The P
PWM moduulator is dissplayed as ppart of the reegulator.
SmartCtrl
73
Moddulator
V
Vp
Peak voltage
V
Vv
Valleey voltage
trr
Risin
ng time
F
Fsw
Switcching frequeency
T
Tsw
Switcching periodd
74 SSmartCtrl
Chapter 9:
Compensators
Input Data
R11(ohms) Its default value is 10 k
Vp(V) Peak value of the ramp voltage (carrier signal of the PWM modulator)
Vv(V) Valley value of the ramp voltage
Tr(s) Rise time of the ramp voltage
Tsw(s) Switching period
Output Data
The compensator components values (C1, C2, C3, R1, R2) are calculated by the
program and displayed in the corresponding text panel
SmartCtrl
75
Input Data
R11(ohms) Its default value is 10 k
Vref(V) Reference voltage
Vp(V) Peak value of the ramp voltage (carrier signal of the PWM modulator)
Vv(V) Valley value of the ramp voltage
Tr(s) Rise time of the ramp voltage
Tsw(s) Switching period
Output Data
The compensator components values (C1, C2, C3, R1, R2) and the resistor Rar are
calculated by the program and displayed in the corresponding text panel
76 SmartCtrl
Input Data
R11(ohms) Its default value is 10 k
Vp(V) Peak value of the ramp voltage (carrier signal of the PWM modulator)
Vv(V) Valley value of the ramp voltage
Tr(s) Rise time of the ramp voltage
Tsw(s) Switching period
Output Data
The compensator components values (C2, C3, R2) and the resistor Rar are calculated by
the program and displayed in the corresponding text panel.
SmartCtrl
77
Input Data
R11(ohms) Its default value is 10 k
Vref(V) Reference voltage
Vp(V) Peak value of the ramp voltage (carrier signal of the PWM modulator)
Vv(V) Valley value of the ramp voltage
Tr(s) Rise time of the ramp voltage
Tsw(s) Switching period
Output Data
The compensator components values (C1, C2, C3, R1, R2) and the resistor Rar are
calculated by the program and displayed in the corresponding textpanel
78 SmartCtrl
Input Data
R11(ohms) Its default value is 10 k
Vp(V) Peak value of the ramp voltage (carrier signal of the PWM modulator)
Vv(V) Valley value of the ramp voltage
Tr(s) Rise time of the ramp voltage
Tsw(s) Switching period
Output Data
The compensator components values (C2, R2) are calculated by the program and
displayed in the corresponding text panel.
SmartCtrl
79
Input Data
R11(ohms) Its default value is 10 k
Vref(V) Reference voltage
Vp(V) Peak value of the ramp voltage (carrier signal of the PWM modulator)
Vv(V) Valley value of the ramp voltage
Tr(V) Rise time of the ramp voltage
Tsw(s) Switching period
Output Data
The compensator components values (C2, R2) and the resistor Rar are calculated by the
program and displayed in the corresponding text panel.
80 SmartCtrl
Input Data
R11 Its default value is 10 k
Vsat Saturation voltage of the op-amp. In the case of the power factor
corrector using a UC3854A multiplier, this value is equal to 6.0 V
Output Data
The compensator components values (C3, R2) are calculated by the program and
displayed in the corresponding text panel.
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81
Input Data
R11 Its default value is 10 k
Vref Reference voltage. In the case of the power factor corrector using a
UC3854A multiplier, this value is equal to 7.5 V
Vsat Saturation voltage of the op-amp. In the case of the power factor
corrector using a UC3854A multiplier, this value is equal to 6.0 V
Output Data
The compensator components values (C3, R2) and the resistor Rar are calculated by the
program and displayed in the corresponding text panel.
82 SmartCtrl
Input Data
R11 Its default value is 10 k
Output Data
The regulator components values (C1, C2, C3, R1, R2) and the resistor Rar are
calculated by the program and displayed in the correspondingtext panel.
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83
Input Data
R11 Its default value is 10 k
Vref Reference Voltage
Output Data
The compensator components values (C1, C2, C3, R1, R2) and the resistor Rar are
calculated by the program and displayed in the correspondingtext panel.
84 SmartCtrl
Input Data
R11 Its default value is 10 k
Output Data
The compensator components values ( C2, C3, R2) and the resistor Rar are calculated by
the program and displayed in the corresponding text panel.
SmartCtrl
85
Input Data
R11 Its default value is 10 k
Vref Reference Voltage
Output Data
The compensator components values (C2, C3, R2) and the resistor Rar are calculated by
the program and displayed in the corresponding text panel.
86 SmartCtrl
Input Data
R11 Its default value is 10 k
Output Data
The compensator components values (C2, R2) are calculated by the program and
displayed in the corresponding text panel.
SmartCtrl
87
Input Data
R11 Its default value is 10 k
Vref Reference Voltage
Output Data
The compensator components values (C2, R2) and the resistor Rar are calculated by the
program and displayed in the correspondingtext panel.
88 SmartCtrl
Cha
apter 10
0:
Gra
aphic an
nd text p
panels
The w
window is divided in six
s differennt panels. Fo
our of them
m are graphiic panels an
nd the
two oother are texxt panels.
The grapphic panels are:
B
Bode
plot Magnitude
M
(ddB)
B
Bode
plot Ph
hase ()
P
Polar
plot
T
Transient
ressponse plot
The text panels are:
Innput Data
O
Output
Data
10.1
1 Bode pllots
The Bode plot is
i used to characterize
c
ncy responsse of the syystem. It consists
the frequen
of tw
wo differentt graphs, th
he gain or m
module plott and the ph
hase plot vversus frequ
uency.
Frequuency is plootted in a lo
og axe.
ots the maggnitude of a given transsfer functionn in decibels (dB)
Maagnitudeplo
ot(dB) Plo
versus frequeency. It is reepresented in
i the uppeer left panell of the
Sm
martCtrl winndow.
ots the phaase of a giv
ven transferr function iin degrees versus
Phasep
plot() Plo
freequency. Itt is represeented in th
he bottom left panel of the
Sm
martCtrl winndow.
SmartCtrl
89
corresponds to fp
Blue
corresponds to fi
The pplacement of
o the aforeementioned zeros and poles
p
can bee varied by the designeer just
by cllicking and dragging on
o each squuare. To enaable this option manuaalmethodttag in
the d
designmeth
hodbox must be selecteed.
Crosss frequencyy
The ccross frequeency of the open loop iis shown by
y means of a pair of dasshed lines on
o the
openn loop transffer function
n of the systeem.
Clickk on right button
b
By riight clickingg on each plot a new w
window is op
pened with some additiional option
ns.
Copy Copy de Bode Plot to clipboard
n allows exp
porting the data of the all
Export This option
frequencies response in
i several foormats.
martCtrl helpp
Help Link to thee on-line Sm
hort explanaations aboutt how to meeasure
QuickHelp Shows a sh
directly on
n the plot
Meassurement toools
Two different tyypes of curssors are avaiilable:
ve the mouuse. Two crrossed red
Ctrl+m
mouse Keeep the Ctrll key pressed and mov
lin
nes are dispplayed and the
t two coo
ordinates off the point on which
thee mouse is pplaced are given.
g
You can measurre at any po
oint within
thee graph areaa.
o of the
Shift+m
mouse Keeep the Shiift key presssed and pllace the moouse near one
dissplayed moodule tracess. The curso
or will trackk itself to that
t
trace,
and the cursoor will measure simultaneously thhe phase an
nd module
of the trackedd trace.
If you want too track the cursor to other
o
trace, jjust left clicck on that
traace.
Ad
dditionally, if the seleected trace is open looop transfer function,
Sm
martCtrl willl measure simultaneou
s
usly on bothh Bode plotts (module
and phase) annd on the Ny
yquist diagrram.
90 SSmartCtrl
10.2
2 Nyquistt diagram
m
The N
Nyquist diaagram, togeether with thhe Bode plo
ots, is a graaphical repreesentation of
o the
frequuency respoonse of a linear system.
For eeach , thee resulting open
o
loop ttransfer fun
nction is rep
presented ass Im(T) vs R(T).
So, tthe gain at this
t
he distancee from the represented
r
point to thee origin, an
nd the
is th
phasee is the corrresponding angle.
SmartCtrl
91
corresponds to fp
Blue
corresponds to fi
How
wever, unlikee in the Bod
de plots, theey cannot bee placed maanually.
Zoom
m
A zooom-in and zoom-out tool
t
has beeen implemeented by lefft-clicking aand draggin
ng the
mousse within thhe white areea of the pollar plot. The relative sccale is givenn by the rad
dio of
the oouter circle both
b
in dB and
a natural scale.
Copyy to clipboaard
The same way as
a in the Bo
ode plots annd the transiient responsse plots, a ccopy to clipb
board
optioon is availabble through
h right clickk on the po
olar plot aree that will aallow the usser to
copyy the currentt graph to th
he clipboardd.
Clickk on right button
b
By riight clickingg on each plot a new w
window is op
pened with some additiional option
ns.
Copy Copy de Bode Plot to clipboard
martCtrl helpp
Help Link to thee on-line Sm
Shows a sh
hort explanaations aboutt how to meeasure
QuickHelp
Q
directly on
n the plot
92 SSmartCtrl
SmartCtrl
93
10.3
3 Transie
ent respo
onse plot
Trannsient responnse specificcations, suchh as setting time and vo
oltage peak transient vaalues,
are uusually criticcal specificaations whenn designing the control stage of a ppower conv
verter.
Therrefore, proviiding a quicck view to tthe transientt response of
o the conveerter may grreatly
help the designeer during thee design proocess.
In Sm
martCtrl thee three mosst significannt transient responses have
h
been ddeveloped. They
can bbe plotted just by cliicking on tthe correspo
onding icon
ns of the V
View Toolb
bar or
seleccting the corrresponding
g transient reesponse witthin the Vieew Menu.
94 SSmartCtrl
Copyy
This allows the user to copy
y the currennt graphs in the clipboaard
Moddify transien
nt parameteers
This option alloows the usser to custoomize the transient
t
response plott as well as
a the
param
meters of thhe computattion algorithhm
SmarrtCtrl makees an autom
matic selecttion of thee parameters as the usser modifiees his
desiggn. By rightt clicking on the transiient plot and
d selection the Custom
m option, a set of
slideers are displaayed so thatt the user iss able to cusstomize the settings listted bellow.
SmartCtrl
95
resolution
r
if necessary
y.
In adddition, the following in
nformation is displayed
d for inform
mative purpooses.
Freqquency step:: The frequency separaation betweeen two sam
mpled frequeency pointss. It is
deterrminate byy the frequ
uency resollution and the bandw
width. An excessive high
frequuency step may
m lead to an incorrecct transient plot.
p
Banddwidth: It determinates
d
s the maxim
mum sampled frequenccy and is diirectly relatted to
the time step seelected by the
t user. Ann excessiveely low valu
ue may leadd to an inco
orrect
transsient plot.
96 SSmartCtrl
10.4
4 Steadystate waveform
The "steady-staate waveforrm" panel displays th
he most sig
gnificant waaveforms of
o the
poweer plant andd the modulaator once thhe steady staate is reacheed.
Induc
ctor voltage
Induc
ctor and diodde current
Output voltage
m
waveforms.
w
PWM modulator
The
e available waveforms
w
arre:
Vc(t): Modulating
M
siggnal
Vcr(t): Compensatin
C
ng ramp
In th
he case of Forward convverter,
Vsill(t) signal is also
a
plotted tto show the
outp
put filter indu
uctor current..
PWM (V
V): MOSFET
T gate
voltage
SmartCtrl
97
KeeptheCtrlkeypresseddandmove
ethemouse
e.Twocrosssedredline
esare
dissplayedand
dthetwocooordinateso
ofthepointtonwhichtthemouseiisplaced
areegiven.You
ucanmeasuureatanyp
pointwithinthegraph area.
Shiftt+mouse KeeptheShifttkeypresseedandplace
ethemousenearone ofthedisplayed
mo
oduletracess.Thecursoorwilltrackkitselftotha
attrace,anndthecurso
orwill
meeasurethettwocoordinnates.
Ifyyouwantto
otracktheccursortoothertrace,justleftclickkonthattraace.
10.5
5 Text pa
anels
Two text panelss are availaable to provvide a comp
plete list of the numeriical values of all
the eelements thaat compose the whole ccircuit as weell as some selection p arameter su
uch as
type of regulatorr, type of seensor, etc.
Text panels aree shown thrrough the V
View Menu
u or by cliccking on thhe correspon
nding
buttoons in the main
m toolbar:
View menu
u
Main
M tool baar
Icon
n
Icon
n
The following example shows the text panels contents for a Forward converter with
double loop control. Therefore, input and output information regarding the inner and
outer loop is provided
INPUT DATA PANEL
Description
Frequency range
Cross frequency
Selected crossover frequency for the open loop gain of the outer
loop (0 dB crossing frequency).
() = 65
Phase margin
Plant
-------------------------------------(inner loop)
Plant
The type of converter is shown. In the case of double loop
control, the outer loop plant is the inner loop closed loop
transfer function.
SmartCtrl
99
Description
Sensor
Sensor
--------------------------------------
= 0.0892857
HFPole(Hz)= 500 G
Sensor:
VO
--------------------------------------
VFB
Ra
(Ohms) = 30.3413
Rb
(Ohms) = 94.8168
Ra
Pa
Rb
Pb
Pa (Watts) = 21.0933 m
Pb (Watts) = 65.9166 m
Compensator
The type of outer loop compensator is shown. Users
input values are shown: Input impedance resistor, R11,
the reference voltage, Vref and the error amplifier
saturation voltage are provided.
Compensator
-------------------------------------Type 3
R11(Ohms) = 10000
Vref(V)
= 2.5
Vsat_minimum(V) = 13
= -7.5
IC_C2(V)
= -7.5
IC_C1(V)
= 0
Description
INPUT DATA
Frequency range
100 SmartCtrl
() = 60
Description
Plant
Cross frequency
--------------------------------------
Forward (LCS_VMC)
R (Ohms)
= 2.8
= 14 u
Phase margin
RL(Ohms)
= 1 n
= 2.2 m
(H)
(F)
RC(Ohms)
= 1 n
Plant
Vin
(V)
= 270
Vo
(V)
= 28
Fsw (Hz)
= 100 k
Nt
= 218 m
= Continuous
= 2.18926
IL
= 10
(A)
ILmax(A)
= 15.2429
ILmin(A)
= 4.75705
Io
(A)
= 10
Vo
(V)
= 28
Sensor
Sensor
-------------------------------------Current sensor
Gain
= 1
Compensator
-------------------------------------Type 3
Gmod
= 0.4
R11i(Ohms)= 10000
Vp(V)
= 3
Vv(V)
= 1
tr(sec)
= 8e-006
IC_C3_i(V) = 7.81074
IC_C2_i(V) = 7.81074
IC_C1_i(V) = 0
SmartCtrl
101
Description
RESULTS
Components values
Regulator (Analog):
-------------------------------------R1
(Ohms) = 6.03942 k
R2
(Ohms) = 902.951 k
C1
F ) = 1.61707 n
C2
F ) = 28.7245 p
C3
F ) = 17.3479 p
fz1 ( Hz ) = 6.13625 k
fz2 ( Hz ) = 6.13625 k
fi
( Hz ) = 345.445 k
s
s
(1)
1
1
2 fz1 2 fz2
R ( s)
T3
s
s
s
1
1
2 fp1 2 fp2
2 fi
b2
( s^2) = 6.72719e-010
s-domain coefficients
b1
( s
fp1 ( Hz ) = 16.2966 k
fp2 ( Hz ) = 16.2966 k
b0
) = 5.18736e-005
= 1
R
a3
( s^3) = 4.39429e-017
a2
( s^2) = 8.99901e-012
a1
( s
a0
) = 4.60725e-007
= 0
T3
( s)
(2)
b 2 s 2 b1 s 1
3
2
a3 s a 2 s a1 s 1
PhF ( Hz ) = 23.6721 k
GM
( dB ) = 11.506
Atte( dB ) = 6.55592
102 SmartCtrl
Description
RESULTS
Regulator (Digital).
Compensator (Analog):
--------------------------------------
z-domain coefficients
R1
(Ohms) = 2.32153 k
R2
(Ohms) = 36.6071 k
C1
F ) = 2.36137 n
C2
F ) = 794.811 p
C3
F ) = 184.518 p
fz1 ( Hz ) = 5.47005 k
fz2 ( Hz ) = 5.47005 k
T3
( z)
b0 z 3 b1 z 2 b 2 z b3
a 0 z 3 a1 z 2 a 2 z a3
fp1 ( Hz ) = 29.0323 k
fp2 ( Hz ) = 29.0323 k
y n b0 u n b1 u n 1 b 2 u n 2 b3 u n 3
fi
( Hz ) = 16.2514 k
a1 y n 1 a 2 y n 2 a3 y n 3
b2
( s^2) = 8.4656e-010
b1
( s
b0
) = 5.81914e-005
= 1
a3
( s^3) = 2.94311e-016
a2
( s^2) = 1.07374e-010
a1
( s
a0
) = 9.79329e-006
= 0
Compensator (Digital):
--------------------------------------
b0
= 3.54492
b1
= -2.625
b2
= -3.48438
b3
= 2.68359
a0
= 1
a1
= -1.92383
a2
= 1.13672
a3
= -0.212891
SmartCtrl
103
Ra
(Ohms) = 30.3413
Rb
(Ohms) = 94.8168
Pa (Watts) = 21.0933 m
Pb (Watts) = 65.9166 m
PhF ( Hz ) = 2.63194 k
GM
( dB ) = -36.5853
Atte( dB ) = 2.73095
104 SmartCtrl
Description
Solutionss Map
Cha
apter 11
1:
Solu
utions M
Maps
Just by clicking
c
with
hin the whitte area, a seet of (fcross and
a PM) thaat lead to an
n
stable soolution is selected.
And so is
i the attenu
uation achievved at fsw box. It is an output paraameter (grey
y
backgrouund) and rep
presents thee attenuation
n achieved by the openn loop at thee
switchinng frequency
y.
Boun
ndaries
The bboundaries,, that determ
mine the vaalid area (white area), represent
r
thhe maximum
m and
minim
mum phasee margin thaat can be achhieved for any
a kind of compensatoor.
Sma
artCtrl
105
Solutions Map
When the first design point has been selected within the Solution Map, SmartCtrl
shows its main screen. In the main screen the solutions Map will be shown as a floating
window. The position of this window can be changed by the user by right clicking on
the Solution Map window plus mouse move. Important Warning messages will be
shown in the bottom part of the Solution Map window.
106 SmartCtrl
Editor box
Chapter 12:
Editor box
2.
3.
4.
5.
pow(a, b)
SmartCtrl
107
Editor box
108 SmartCtrl
Chapter 13:
13.1 Export
13.1.1 Export transfer function
SmartCtrl provide three different exporting options which are available under the export
item of the File Menu. The first of the exporting options is export transfer functions
which is also available through left click on the icon
Any of the transfer functions available can be exported to a .txt file. To do that, the
designer must select the function to export within the available list and set the options of
the file in the corresponding dialogue box.
The addressed file is formed by three columns containing the frequency vector, the
module in dB and the phase in degrees respectively.
The file options and characteristics are contained in the "Exporting transfer function
dialogue box" and they are described below:
SmartCtrl
109
The designer is able to export the parameters of the design to a PSIM schematic that is
automatically generated by the program.
110 SmartCtrl
Comp
mpensator exxporting wa
ay
Compo
onents (R1, C1, ... aree given): the schemaatic and paarameters of
o the
Sma
artCtrl
111
112 SmartCtrl
113
Only the text file with the necessary parameters will be exported to a PSIM schematic
previously generated. Similarly to the previous option, SmartCtrl will ask the designer
to select the path of the PSIM schematic to which the parameters file must be exported.
Then the designer will have to select the exporting options (regulator exporting way,
power stage and sensors and initial conditions).
Once one of the previously described options has been configured, only the updating of
the existing parameter file is needed. When the designer clicks, the previously inserted
parameter file will be updated automatically.
Simulation issues
13.1.3 Export transient responses
SmartCtrl provides three different exporting options which are available under the
export item of the File Menu. The third of the exporting options is "export transient
functions" which export any of the available transient responses to a file.
114 SmartCtrl
This option is also available through right click on the transient response graphic panel.
The corresponding dialogue box is displayed below. It shows the transient response to
be exported as well as the following parameters:
Timeshift The user is able to set a customized time shift (in seconds) if
necessary, and the transient response will be translated
accordingly along the time axis.
N.ofpointstobeexported SmartCtrl shows the total number of points of the graph.
Printstep Its default value is 1 and it means that every data point will
be exported to the file. If it is 4, only one out of 4 points will
be saved. This helps to reduce the size of the resultant file.
The two buttons placed at both sides of the pint step box
allow to increase (x2) or decrease (/2) the print step easily.
SmartCtrl
115
Clickk Apply to update the parameterss and OK to continue. At this pooint, the pro
ogram
will aask you the name and location
l
of tthe file.
13.1
1.4 Export Global.
From
m the main menu it is possible
p
to select Expo
ort Global. This optionn allows thee user
to exxport to texxt files diffferent inforrmation reg
garding the design. Deepending on
o the
seleccted inform
mation, the text files will havee different names, shhown below
w the
correesponding check
c
boxess.
116 SmartCtrl
Transference functions: frequency (Hz), magnitude (dB) and phase (deg) of the
basic transfer functions.
The designer is asked to configure the file format for the transference functions, like in
Export transfer functions.
Finally, the user is asked for the path to save the file/s.
The file to be merged with the current one can be either a .tro file, a .txt file or a .fra file.
This is, the comparison of the current file results can be compared with the results
previously saved by the SmartCtrl Program, with any transfer function saved in a .txt
format or with a PSIM frequency AC analysis, respectively.
SmartCtrl
117
n
De
elete Deleetestheselecctedfunction
Dele
eteall Deleeteallthefunnctions
App
plythecurrenntsettings
A
Apply
ply the curreent settings and close th
he merge w
window
OK App
b don't apply any chaange
Caancel Closse the Mergge window but
playthehelppwindow
Help Disp
118 SmartCtrl
Sma
artCtrl
119
13.2
2.2 Modify Function
The Modify funnction allow
ws the userr to Modify
y the settin
ngs of a preeviously merged
transsfer functionn (change co
olor, file off origin...)
11. Select thee Function too be modifiedd
33. Modifyseettings
120 SmartCtrl
The
T user is able to mod
dify
the
t followinng parameteers:
Sma
artCtrl
121
122 SmartCtrl
Design meethods
Cha
apter 14
4:
Dessign Metthods
icon of theeView
123
Desiggn methodss
14.1
1 Kfactorr Method
d
The K factor allow the dessigner to chhoose a partticular open
n loop crosss-over frequ
uency
and pphase margin, and then
n determinee the necesssary compon
nent values to achieve these
resullts. In SmarttCtrl, the reegulator com
mponent vallues are disp
played withhin theresultts text
panel.
The two input parameters of the K factor (fc, PM) can be
b easily chhanged in the
t K
methhod tag of thhe design method
m
box.
f
frequency
y
K
Where K is deefined as th
he ratio off the doublle pole freq
quency to tthe double zero
frequuency and the frequen
ncy f is thee geometricc mean betw
ween the ffrequency of
o the
doubble zero andd the frequen
ncy of the ddouble pole.
124 SmartCtrl
Design methods
So, the maximum open loop phase boost is achieved at frequency f, and it is assumed
that the regulator is designed so that the open loop cross-over occurs at frequency f also.
K factor for Type 2 regulator
A Type 2 regulator is formed by a single zero, a single pole and a low frequency pole.
When a Type 2 regulator is selected the pole and the zero are placed as follows:
f
K
Where the K factor is defined as the square root of the ratio of the pole frequency to the
zero frequency andf is the geometric mean of the zero frequency and the pole frequency.
The maximum phase boost from the zero-pole pair occurs at frequency f, and it is
assumed that the regulator is designed so that the open loop cross-over occurs at
frequency f also.
Where is set from fcross and phase margin. This parameter allows the designer to
select the exact frequency in which the zeroes will be placed. After that, is
automatically calculated.
The additional degree of freedom obtained with Kplus can be used as follows:
If is set to be lower than K (from the K-factor method), higher gain at low
frequencies but less attenuation at switching frequency (fsw) are obtained.
On the contrary, if is set higher than K (from the K-factor method), the
control loop has less gain at low frequency but more attenuation at fsw. It should
be remarked that the phase margin is the same in all cases.
Therefore, the Kplus method can be used to improve the overall performance of the
control loop in those cases where a slightly larger high frequency ripple could be
admitted at the input of the PWM modulator.
SmartCtrl
125
Desiggn methodss
In thhe same wayy as the K method, whhen the Kp
plus tag is selected,
s
thee user can easily
e
channge the input parametters, phase margin an
nd cross-ov
ver frequenccy And alsso an
addittional param
meter, Kpluss, which corrresponds to
o the aforem
mentioned factor.
14.3
3 Manuall
This method alllows placing
g poles andd zeroes ind
dependently
y from eachh other. It iss used
whenn the desiggner would like to reffine the ressults obtain
ned from thhe K and Kplus
K
methhods or wheen these auto
omatic methhods do nott provide a valid
v
solutioon.
The manual meethod is provided for bboth the typ
pe 3 and typ
pe 2 regulat
ators. Their poles
and zeroes freqquencies can
n be variedd by directlly dragging
g and droppping them in
i the
Bodee plots.
Or tyyping the frequencies
f
of poles aand zeroes in corresp
ponding inpput boxes of
o the
desiggn methods box.
In the casse of a Typ
pe 3 regulattor, the desiigner can ad
djust
the frequuency valuess of:
T
The two zero
oes,
T
The two polees
A
And the low frequency pole
126 SmartCtrl
T
The zero
T
The pole
A
And the low frequency pole
Design methods
14.4 PI tuning
The PI tuning method input parameters are the same as in the K-factor method:
Phase margin
Cross-over frequency
From these two input parameters, SmartCtrl calculates the both the proportional (Kp)
and integral (Kint) gains and shows them in the corresponding output boxes.
The same as in the other automatic calculation methods, the phase margin and crossover frequency can be set directly by clicking in the solutions map.
Additionally, there is a Kp and Ti Solution Map that allows the tuning of the PI
regulator by directly tuning its parameters Kp and Ti.
A Proportional Integral controller(PI) is defined by the following transfer function:
1 Tis
Kp :is the Gain of the PI controller.
where
G ( s) Kp
Tis
Ti :is the time constant of the PI controller, in seconds.
The constant time Ti is located on the x-axis of the graphic and the gain Kp is placed on
the y-axis. Any change will involve an instantaneous update of the rest of the windows
of the graphic panel, as well as in the solution map.
Every point in the recommended area of the Solution Mapbox has an equivalent point in
the Kp and Ti Solution Map control box, which is also expected to be stable.
However, several points of the Kp and Ti Solution Map control box might correspond
to an unique point in the Solution Map.
SmartCtrl
127
Desiggn methodss
14.5
5 Single P
Pole tunin
ng
The I tuning meethod is the equivalent oof the manu
ual method but
b for integgral regulattors.
The simple integrator is formed by a single pole, which freq
quency musst be selected by
the ddesigner. Given
G
this frequency,, the assocciated phase margin iis automatically
calcuulated by the program.
128 SmartCtrl
Parametric sweep
Chapter 15:
Parametric Sweep
The parametric sweep can be accessed either through the Data Menu or the View
Toolbar icons. The SmartCtrl program distinguish among two different parametric
sweeps:
Input Parameters Parametric Sweep
It allows the variation of all the input parameters of the system. These are:
General Data
Plant
Sensor
Regulator
It allows to vary the component values of the compensator. This is, the resistances and
capacitances that conform the regulator.
129
Parametric Sweep
Tag"GeneralData"
The parameters to be varied are related to the
open loop parameters. The designer is asked
to provide a range of variation. The available
parameters are:
Phase Margin ()
Tag"Plant"
The parameters available for variation are
related to the plant input parameters. The user
must introduce a minimum and a maximum
value for the variable selected, in order to
provide its range of variation. Only one
parameter can be varied at a time
130 SmartCtrl
Parametric sweep
Tag"Sensor"
Two different sensor are available for variation. The voltage divider and the Hall effect
sensor. The parameter to be varied in the voltage divider is its voltage gain (Vref/Vo). In
the case of the Hall effect sensor there are to available parameters: its gain at 0Hz and
the pole frequency.
SmartCtrl
131
Parametric Sweep
Tag"Compensator"
The parameters available correspond to the
modulator gain and the Resistor R11.
132 SmartCtrl
Parametric sweep
SmartCtrl
133
Parametric Sweep
134 SmartCtrl
Digital co
ontrol
Cha
apter 16
6:
Dig
gital con
ntrol
The D
Digital conttrol feature is only avaiilable in thee SmartCtrl 2.0 Pro
16.1
1 Introdu
uction to Digital C
Control
Digittal control module of SmartCtrrl allows calculating
c
the coefficcients of digital
d
comppensators inn order to be implem
mented by means
m
of digital
d
deviices (as specific
hardw
ware in FPGA or ASIIC, or as a program in
n a microprrocessor, m
microcontrolller or
DSP)).
Digittal regulatoors are obtaained by diiscretization
n of analog
g compensaators, which are
calcuulated follow
wing the an
nalog approaach of SmarrtCrtl.
Three specifics factors are taken
t
into aaccount on digital
d
contrrol calculatiions:
Sampling frequency
y of the reguulator.
Overall time
t
delay in
i the controol loop.
16.2
2 Digital S
Settings
Pushh in the iconn
of thee main toolbbar to start the
t calculation of the ddigital regullators.
This option is ennabled afterr the calculaation of an analog regu
ulator. Digittal regulators are
y discretizaation of an
nalog regulaators usingg the bilineear or
calcuulated in SmartCtrl by
Tustiin transform
mation.
135
Digital control
Sampling frequency. It is the sampling frequency of the digital regulator. The
sampling period Tsamp=1/fsamp is the time between two consecutive samples of the
output signal of the regulator.
In many applications, the sampling frequency (fsamp) of the regulator is equal to the
switching frequency (fsw) of the power converter. In SmartCtrl the user can select
different values for switching and sampling frequency, but the sampling frequency
must be a multiple or submultiple of the switching frequency.This parameter is used
to calculate the digital regulator by means of discretization of the analog regulator.
In current loops, the controlled quantity in the converter has a significant ripple.
Therefore, it is recommended to use a Hall Effect sensor that includes a first order low
pass filter that can act as an antialiasing filter.
Bits number. It is the number of bits used to represent the coefficients of the digital
compensator considering a fixed point representation. The obtained coefficients are
rounded to the nearest number that can be represented with the specified number of bits.
One bit is used to represent the sign, and the rest to represent the integer part and the
decimal part.
A low number of bits can result in a digital regulator significantly different from the
analog regulator. It is recommended to check the similarity between the analog and
digital regulator. If analog and digital responses are too much different, especially at
low and medium frequencies, it is recommended to increase the Bits number.
Accumulated delay(s). It represents the total time delay in the control loop (modulator
delay, calculation delay, ADC delay, etc).
This delay affects the actual phase margin obtained with the designed digital regulator.
The delay is a negative phase that is subtracted to the phase of the open loop transfer
function in the Bode plot. As the original (analog) regulator is calculated without
considering the time delay, the obtained phase margin will be lower than the obtained in
the analog regulator. This phase margin loss can be compensated by selecting a higher
phase margin in the specification of the analog regulator.
It is recommended to check the effect of the delay in the Bode plot of the open loop
transfer function and the closed loop transfer function. The accumulated delay is not
represented in the Bode plot of the discretized compensator.
When exporting a design of SmartCtrl to PSIM, a time delay block appears in the
schematic, to take into account the different time delays of the control loop. This time
delay block represents only the ADC delay and calculation delay, since the modulator
delay is included in the behavior of the implemented PWM modulator. Therefore, the
accumulated delay specified by the user must be equal at least to the modulator delay.
Otherwise, inaccurate simulation results may be obtained. For the trailing edge
modulator used in the proposed PSIM circuit, the time delay due to the modulator tpwm
is:
tpwm=DutyCycle/fsw - floor(DutyCycle*fsamp/fsw)/fsamp
136 SmartCtrl
if fsamp>=fsw
Digital co
ontrol
tpwm
m=DutyCyccle/fsw + (fssw/fsamp-1))/2/fsw
if fsamp<
<fsw
16.3
3 Parame
etric sweep in diggital control
The three specific parametters of digiital regulato
ors can be swept:
s
samp
mpling frequ
uency,
numbber of bits and
a accumu
ulated time ddelay.
A waarning box informs thee user abouut limit cyclling. From the four coonditions off limit
cycliing referredd in the tech
hnical literatture [1], [2]], the two depending ollny the regu
ulator
calcuulation are considered.
c
Sma
artCtrl
137
Digittal control
[1] A
A.V.Peterchhev, S.R.San
nders, Quaantization reesolution an
nd limit cyccling in dig
gitally
contrrolled PWM
M converterrs, IEEE T
Transaction
ns on Poweer Electroniics, Volum
me 18,
No.1, Jan. 2003, pp.301-30
08
[2] H
H.Peng; D.M
Maksimovicc, A.Prodic,, E.Alarcon
n, Modelin
ng of quantiization effects in
digitaally controllled DC-DC
C converterss, IEEE PE
ESC 2004, pp.4312-431
p
18.
16.4
4 Simulattion issue
es with d
digital con
ntrol
When a digital controller design is e xported to PSIM in order to be simulated, some
consiiderations should
s
be taken
t
into account. In
n some cases there m
may appear some
probllems with the start of the
t converteer. One possible solutio
on to be useed it to incllude a
limitter block just after the z-domain bblock, whicch values arre in the casse of singlee loop
contrrol (see nexxt figure):
Upper lim
mit: 0.97*V
Vp-Vref
138 SmartCtrl
Digital control
In the case of double loop control, this additional limiter can be added both in the inner
control loop and/or in the outer control loop. In the case of the outer control loop de
limits suggested for the limiter are:
In the case of inner control loop, the reference is not fixed. It is suggested to start with
these limits:
Lower limit: -5
SmartCtrl
139