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I. I~TRODUCTION
'Oa 005 01 015
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Switched mode Pulse Width Modulation (PWM) Figure 2. Open loop response of boost converter
based dc-dc converters play an important role in
communication, automobile, computer and. aerospace 11. CIRCUITDESCRIPTION
applications. The output voltage of dc-dc converters may
The boost converter shown in Fig.1 rated
fluctuate due to supply disturbances and load variations. for 180 watts is operated in continuous tonduction mode
The two general approaches to control output voltage
with 200 kHz switching frequency. The converter
fluctuations are voltage-mode control and current-mode parameters under nominal operating conditions are
control [l]-[2]. The design of control technique becomes tabulated in Table I.
complex when a zero lies on Right-Hand-Side (RHS)of
the complex plane. In the literahire [?]-[SI, it is reported ' Table I. Converter Parameters
that the boost and buck-boost converters have the above
said characteristic. To overcome the above said difficulty
an observer based design of PI controller for
voltage-mode control of converter is repoited [3]. The
design procedure of this method is complex. Simple
methods of designing PID controller have not been
reported to the best of author's knowledge. 15+10% 43.5 22066 1030% 30 0.5 40
e-3
In the present work, simple methods are proposed to
design a PID controller under voltage-mode control. The The duty-ratio to output-voltage transfer function G(s)
methods are Intemal Model Control for the boost converter is given in (I). It is equivalent to a
(IMC),Ziegler-Nichol's (Z-N), Equating Co-eficient second-order filter with a high quality factor Q or steady
and Synthesis. To demonstrate the effectiveness of the
state process gain K, and a RHS zero 11 [4]. The open-loop
methods a boost type dc-dc converter shown in Fig.1 is
considered. The open loop inverse response transfer function Gal($ is obtained fiom small signal
linearized model around the nominal operating point.
characteristic curve is also shown in Fig.2.
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111. DESIGN
CONTROLLER
- A. Ziegler-Nichols Method
2 - 2 - The PID controllers used in Process Industry are
(s + (I/RC)s + ( ( I D) /LC))
normally hined using 2-N technique [6], [1O]-L12]. This
(1) method does not provide satisfactory performance for a
system with RHS zero. The major problem created by the
This can be fiuther simplifiedto
'1 is the destabilizing effect in the system. The larger the
G,(s)=Vo(s)/d(s)=Kp(l-lls)/[(r,s +1)(T2S+I)] (2) magnitude of q, the larger the initial drop in output
voltage. Fig.2 shows when q is equal to 0.0174,the
response drops to a negative value that is almost 67% of
With the positive zero present in (2), the limiting the fmal positive steady state output valpe, and it takes
value for the phase angle has'been altered to -270" as almost one time constant ( T J to come back to the initial
shown in Fig.3 and as such, there is now a fmite steady-state value of zero. Z-N settings give sluggish
crossover frequency at which 0 is equal to -1SOO.Hence responses for large values of 11 and produces oscillatory
there is a limiting value of controller gain K, above responses for small v a l u e of 11. The value of controller
which the system will be unstable [ 6 ] .Many research parameters are obtained by finding a approximate model,
papers for system with RHS zero in process control the f~t-order-plus-time-delaytransfer hnction given as
applications are reported for the design of PID
controller [7]-[S]. G,l(s) = Kpea / [T s + 11 (4)
rlm~"il(lMli,
1.*Jre 3. Open loop frequency response for bc t Figure 4(b). Process reaction curve for boost
converter converter
..
~
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This approximated model is derived from process
reaction curve as shown in Fig. 4(h). By applying a step where ai= ( T ~- 11); hl = [TI+K&(TI-I~)]/{ILK,} (12)
change in duty ratio (see Fig. 4(a)) to a converter in open
loop. The converter output V. is recorded and plotted as a2 =?]TI; b2=[TI (~-&K,q)l / {ICK,] (13)
process reaction c w e . From Fig. 4(b) the values of steady
state gain Kp, dead time a and time constant T are and a, p &e the ratios of the corresponding Coefficients
calculated as of s and s2 in the numerator with that of the
denominator.
a = Effective time delay = 0.149 seconds (5)
Steady-state gain The response of the under-damped closed loop
system is given by the following equation .
Kp = V,(OO)/ A (6)
= 30/0.5=60 y(t) = I-(K [cos(qt) + l(x1-s) 1 9 ) sin (qt)l) (14)
where A = Magnitude,of step input (duty ratio) (0.5) where
V,,(m) =Output deviation 6om the
initial starting value
K = 1-b; q=(l-52) '.';XI = p (a - p ) / ( l -p) (15)
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h> q/2 (26)
In this work h is taken as 0.05, the IMC control
produces robust response against outpnt voltage
fluctuations with acceptable ISE value compare to other
controller methods.
4 ( s ) = 4 s ) [l-i$s)q(s)l (17)
where boost converter transfer function G&) is written as
3s) 1% =
- L005 0, 0,s 02 015 0, 0 1 01 0.5 05
q=
Desired closed loop trajectory is given by
= (TS 1 C&(I'Ts)l (21)
G,I = ( 1 -qrS)/ (T$+I') (27)
The mbust PID controller is obtained by augmenting the
nominal controller &) by a filter f .
The process model is used directly to. synthesis the
controller G, required to cause the process output to
q(s)=S (s) f (22)
follow reference trajcctoly is exactly given as
For a step input, the filter f is defined as
Go,= IC, (1-11s) / (rs+l) (28)
f = l/(hs+l) (23)
By increasing h, larger robustness is obtained at the
expense of a slower response as shown in Fig.6. The G,(s) From the equations (27) and (28) .the controller G, is
can be deduced as derived in the commercial PID controller form as
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lV. RE~ULTDISCIJSSION
The simulation of the given boost converter transfer
hnction is carried out implementing the above methods
using Matlab software. The controller parameters are
obtained kom approximated first order model. The initial
output voltage is considered as 27 volts, nominal output
voltage is considered as 30 volts. The converter
parameters listed in Table I. For all the controllers, the
response obtained for voltage regulation kom 2 1 volts to
30 volts is shown in Fig. 7.cThe corresponding change in
controller output for voltage regulation is shown in
Fig. 8. Similarly, the responses obtained for a one
percentage change in load and line variations applied at a
0.45 seconds is also shown in Fig. 9 and Fig. 10
respectively for all the controllers.
Z-N controller parameter K, and q obtained by
process reaction curve method is considered as fust
guess for simulation. After fine tuning to a acceptable
ISE value, the controller values are tabulated in
Table 11. The result reveals that the Z-N method
produces oscillatory response for a small value of RHS
zero, large value of ISE value, high % over shoot and
under shoot.
The controller parameter Kc and obtained kom
Equating Co-efficient method are tabulated in Table III. It
is conclnded that, compare to Z-N and Synthesis method,
IR effect is reduced much. But this method produces
higher value of ISE compare to Synthesis method.
'
IMC
2-N 15.0 0.45
PO4'
0
Figures.
"
001 01 015 02 OK
Time(sarands)
" ' -
03
"
S ~ N O
response.
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38, , I I , , , , , ,
V. CONCLUSION
In this paper easy to use tuning d e s for the proposed
ControIlers are tabulated in Table N0.m. Performance
indices for set point change (servo response) are reported
in Table No.U. It is observed that best controller settings
and reduced % undershoot ,very less ISE value are
obtained for Synthesis controller compare to other
methods.
REFERENCES
38
_ _ I-N
Synthesis
[71
181
1 0 ' 01 02, 03
Tame seconds) -
04 05 06 01 08 09 1
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