1

EE462L, Fall 2012

PI Voltage Controller for DC-DC
Converters

2

V
pwm
(0-3.5V)
PWM mod.
and MOSFET
driver
DC-DC
conv.
V
out
(0-120V)


V
set
V
out
(scaled down
to about 1.3V)

PI
controller
PWM mod.
and MOSFET
driver
DC - DC
conv.
error
+


Open Loop, DC-DC Converter Process
DC-DC Converter Process with Closed-Loop PI Controller
PI Controller for DC-DC Boost Converter Output
Voltage
Hold to 90V
V
pwm
!
3


V
set
V
out
(scaled down
to about 1.3V)

PI
controller
PWM mod.
and MOSFET
driver
DC - DC
conv.
error
+


The Underlying Theory
Hold to 90V
V
pwm

) ( ) ( ) ( ) ( s G s G s G s G
DC DC PWM PI
- - =

i
P PI
sT
K s G
1
) ( + =
Proportional Integral

) ( 1
) (
) (
) (
s G
s G
s V
s V
set
out
+
=

sT
s G G s G
DC DC PWM conv
+
= - =

1
1
) ( ) (
Our existing boost process
4

V
set
V
out
PI
controller
PWM mod.
and MOSFET
driver
DC - DC
conv.
error e(t)
+

V
pwm
1
( ) ( ) ( )
PWM P
i
V t K e t e t dt
T
= +
}
Theory, cont.
Proportional term: Immediate correction but steady state error (V
pwm
equals
zero when there is no error (that is when V
set
= V
out
)).
Integral term: Gradual correction
Consider the integral as a continuous sum (Riemmans sum)
Thank you to the sum action, V
pwm
is not zero when the e = 0
Has some memory
!
5
E.g. Buck converter
Vin = 24 V
Vout = 16 V (goal)
L = 200 uH, C = 500 uF, R = 2 Ohm
6
E.g. Buck converter
Vin = 24 V
Vout = 16 V (goal)
L = 200 uH, C = 500 uF, R = 2 Ohm
Ki = 40, Kp = 0
!
iL

vC


d


e
1
( ) ( )
PWM
i
V t e t dt
T
=
}
7
E.g. Buck converter
Vin = 24 V
Vout = 16 V (goal)
L = 200 uH, C = 500 uF, R = 2 Ohm
Ki = 10, Kp = 0
!
iL

vC


d


e
1
( ) ( )
PWM
i
V t e t dt
T
=
}
8
E.g. Buck converter
Vin = 24 V
Vout = 16 V (goal)
L = 200 uH, C = 500 uF, R = 2 Ohm
Ki = 0, Kp = 1
!
iL

vC


d


e
( ) ( )
PWM P
V t K e t =
9
E.g. Buck converter
Vin = 24 V
Vout = 16 V (goal)
L = 200 uH, C = 500 uF, R = 2 Ohm
Ki = 0, Kp = 0.1
!
iL

vC


d


e
( ) ( )
PWM P
V t K e t =
10
E.g. Buck converter
Vin = 24 V
Vout = 16 V (goal)
L = 200 uH, C = 500 uF, R = 2 Ohm
Ki = 10, Kp = 1
!
iL

vC


d


e
1
( ) ( ) ( )
PWM P
i
V t K e t e t dt
T
= +
}
11

i i i
C R T =

sT sT
K s G
i
P
+
-
|
|
.
|

\
|
+ =
1
1 1
) (

i
p
P i
P
set
out
TT T
K
s s
K T
s
T
K
s V
s V
1
1
1
) (
) (
2
+
|
|
.
|

\
|
+
+
|
|
.
|

\
|
+
=
2 2
2
n n
s s e ,e + +

Response of Second Order System
(zeta = 0.99, 0.8, 0.6, 0.4, 0.2, 0.1)
0
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
1.8
0 2 4 6 8 10
0.99
0.1
0.4
0.2

i
n
TT
1
2
= e

T
K
p
n
+
=
1
2,e

1 2 1
2
1 2 = = =
i
i
n p
T
T
TT
T
T K ,
,
,e
T T
i
8 . 0
=
65 . 0
= ,
45 . 0
=
p
K

Recommended in PI
literature
From above curve gives some
overshoot
Theory, cont.

) ( 1
) (
) (
) (
s G
s G
s V
s V
set
out
+
=
work!
12
Improperly Tuned PI Controller


Figure 12. Closed Loop Response with Mostly Proportional Control
(sluggish)


Mostly Proportional Control Sluggish,
Steady-State Error

Figure 11. Closed Loop Response with Mostly Integral Control
(ringing)


Mostly Integral Control - Oscillation
90V 90V
13
Op Amps

Assumptions for ideal op amp


-
V
out
= K(V
+
V

), K large (hundreds of thousands , or one million )
-
I
+
= I

= 0
-
Voltages are with respect to power supply ground (not shown)

-
Output current is not limited




+
V
+

V
out

V


I


I
+

!
14
Example 1. Buffer Amplifier
(converts high impedance signal to low impedance signal)


+
V
in

V
out

) = K(V
in
V
out
) (
+ out
V V K V
=
in out out
KV KV V
= +
in out
KV K V
= +
) 1 (

K
V V
in out
+
- =
1
K
K is large
in out
V V
=
!
15
Example 2. Inverting Amplifier
(used for proportional control signal)



+
R
f

R
in

V
in

V
out


= = KV V K V
out
) 0 ( , so
K
V
V
out
=

.
KCL at the node is 0 =

f
out
in
in
R
V V
R
V V
.
Eliminating

V yields

0 =

+

f
out
out
in
in
out
R
V
K
V
R
V
K
V
, so

in
in
f f in
out
R
V
R KR KR
V =
|
|
.
|

\
|
+ +
1 1 1
. For large K, then
in
in
f
out
R
V
R
V
=

, so
in
f
in out
R
R
V V = .
!
16
Example 3. Inverting Difference
(used for error signal)



+
V
out

V
a

V
b

R
R
R
R
|
.
|

\
|
= =
+
V
V
K V V K V
b
out
2
) ( , so
K
V V
V
out b
=

2
.
KCL at the node is 0
=

+


R
V V
R
V V
out a
, so
0
= +

out a
V V V V , yielding
2
out a
V V
V
+
=

.
Eliminating

V yields

|
.
|

\
|
+
=
2 2
out a b
out
V V V
K V
, so |
.
|

\
|

= +
2 2
a b out
out
V V
K
V
K V , or |
.
|

\
|

=
|
.
|

\
|
+
2 2
1
a b
out
V V
K
K
V .
For large K , then
( )
b a out
V V V
=
!
17
Example 4. Inverting Sum
(used to sum proportional and integral control signals)



+
V
out

V
a

V
b

R
R
R


= =
KV V K V
out
) 0 ( , so
K
V
V
out

=

.

KCL at the node is

0
=

+

+


R
V V
R
V V
R
V V
out b a
, so

out b a
V V V V
+ + =

3 .

Substituting for

V yields
out b a
out
V V V
K
V
+ + = |
.
|

\
|

3 , so
b a out
V V
K
V
+ =
|
.
|

\
|


1
3
.
Thus, for large K ,
( )
b a out
V V V
+ =


!
18
Example 5. Inverting Integrator
(used for integral control signal)



+
C
i


R
i


V
in

V
out

Using phasor analysis, )
~
0 (
~

=
V K V
out
, so

K
V
V
out
~
~
=

. KCL at the node is

0
1
~ ~ ~ ~
=

+


C j
V V
R
V V
out
i
in
e
.
Eliminating

V
~
yields 0
~
~
~
~
=
|
|
.
|


\
|


+


out
out
i
in
out
V
K
V
C j
R
V
K
V
e
. Gathering terms yields

i
in
i
out
R
V
K
C j
KR
V
~
1
1 1 ~
=
|
|
.
|


\
|
|
.
|

\
|
+

e
, or
in i out
V
K
C R j
K
V
~
1
1 1 ~
=
|
|
.
|


\
|
|
.
|

\
|
+

e
For large K , the
expression reduces to
( )
in i out
V C R j V
~ ~
= e
, so
C R j
V
V
i
in
out
e
~
~

=
(thus, negative integrator action).
For a given frequency and fixed C , increasing
i
R reduces the magnitude of
out
V
~
.
!
19


(Note net gain K
p
is unity when, in the open loop condition and with the integrator disabled,
V
pwm
is at the desired value)
R
i
is a 500k pot, R
p
is a 100k pot, and all other
resistors shown are 100k, except for the 15k
resistor.

The 500k pot is marked 504 meaning 50 10
4
.
The 100k pot is marked 104 meaning 10 10
4
.


+


+


+


+


+


+
error
Summer
(Gain = 1 1)
Proportional
(Gain = K
p
)
Inverting Integrator
(Time Constant = T
i
)

Buffers
(Gain = 1)
V
set

V
o ut

V
pwm

R
p

C
i


R
i


15k

Difference
(Gain = 1)
Op Amp Implementation of PI Controller
Signal flow