Model Derivation and Control Design of a

Buck Converter using

Ansoft Simplorer
TM
By:
Marius Marita
Overview
Problem Statement
Buck Theory
Derive the Transfer Function
Investigate the Control Methods
Simulation Results
Conclusion
Application: Induction Motor Control
Questions?
Problem Statement
Obtain the
Mathematical Model
of a Buck Converter
Find a controller that
covers the whole
range of operation of a
Buck Converter
including Continuous
and Discontinuous
Mode
R1.V [V]
1.12439141475767 * R6.I [A]
RANDOM1.VAL
t [s]
14
-2
0
2
4
6
8
10
12
0 20m 2m 4m 6m 8m 10m 12m 14m 16m 18m
R1 R := 4
C1 C := 1500u
L1
L := 56u
E1
EMF := 27
C4 C := 1500u
S1
D1
R2 R := 0.02
R3
R := 0.017
R4 R := 0.02
SUM1
NEG
NEG1
GAIN
GAIN1
PWM
pwm1
S & H
SAH1
LIMIT
LIMIT1
R5 R := 1.5
S2
STEP1 STEP2
TS1
SAH2.VAL
t [s]
1.2
-0.2
0
0.2
0.4
0.6
0.8
1
0 20m 2m 4m 6m 8m 10m 12m 14m 16m 18m
R6
R := 0.001
STEP3
G(s)
GS1
LIMIT
LIMIT2
SUM2
I
b
SUM4
D
DIFF1
S & H
SAH2
RANDOM
RANDOM1
SUM5
+
V
VM1
Buck Theory
Step down the voltage
Control the Output
Voltage while the
Load Resistance or the
Input Voltage Changes
Provide Isolation from
the Line
R1 R := 1
C1
C := 1500u
L1
L := 56u
E1
EMF := 27
S1
D1
Buck Theory
Continuous
Conduction Mode
Inductor Current Stays
above zero value for all
time
Discontinuous
Conduction Mode
Inductor Current reaches
zero value for a while
during a one period.
L1.I [A]
t [s]
Default
6.5
0
1
2
3
4
5
20m 20.2m 20.02m 20.04m 20.06m 20.08m 20.1m 20.12m 20.14m 20.16m 20.18m
L1.I [A]
t [s]
3.8
0
0.5
1
1.5
2
2.5
3
6.3m 6.5m 6.4m 6.4m 6.4m 6.5m 6.5m 6.5m
Buck Transfer Function
TF derived from
changing the On Time
of the Switch resulting
in changing the output
voltage (CCM)
Load Resistance
changes from 1O, to
1.5O, to 2O, and 3O in
CCM
PWM
R1 R := 1
C1
C := 1500u
L1
L := 56u
E1
EMF := 27
S1
D1
pwm1
CONST
CONST1
SUM1
STEP1
AMPL := 0.1
0.44
Continuous Conduction Mode
Simulation Setup
Buck Transfer Function
TF derived from Changing
the Load Resistance while
keeping the On Time of
the PWM Generator
Constant (DCM)
Load changes from 5O,
7O, 10O, and 12O in
DCM
Discontinuous Conduction Mode
Simulation Setup
PWM
R1 R := 6
C1
C := 1500u
L1
L := 56u
E1
EMF := 27
S1
D1
pwm1
CONST
CONST1
0.44
S2
TS1
R2 R := 20
STEP2
AMPL := 1
STEP3
AMPL := 1
Buck Transfer Function
Second Order
Response for CCM
First Order Response
for DCM
R1.V [V]
R1.I [A]
t [s]
Default
15.5
10.1944
11
12
13
14
20.1276m 57.1012m 24m26m28m30m32m34m36m38m40m42m44m46m48m50m52m
Buck Transfer Function
Second Order CCM
V
Out(IN)ss
= Output Voltage before adding
the change in Duty Ratio
V
Out(FV)ss
= Output Voltage Steady State
value after adding the change in the
Duty Ratio
V
(PEAK)
= Peak Value of the Overshoot
Voltage
T
(FV First Time)
= Time to the first reach of the
Steady State Voltage
T
(PEAK)
= Time to the Peak Voltage
Calculate:
DC Gain:
Ratio of Peak Value to Final Value:
Damping Ratio from Table:
=0.55
Normalized Time to Peak Value: t
*
from
Table
Calculated Natural Frequency:
Transfer Function:
( )
( )
PEAK
Out ss
V
V
*
( )
n
PEAK
t
T

( )
2
2 2
2 2
2 2 2
( )
2
2
(2 )
( )
2 2 (2 )
DC n
n n
n n
DC n
n n
K
G s
s s
f
K f
G s
s f s f

+ +

+ +
g
g
Buck Transfer Function
First Order DCM
V
1(in)
- Voltage Value before
Load Change Occurs
V
1(out)
-Voltage Value after
load change occurred and
reached steady state
T
(63%)
-Time it takes for the
system to reach 63% of its
final value
K - DC Gain
t - 63.2% of the final
value
( )
1
K
H s
s

+
Buck Transfer Function
Continuous Conduction Mode
(CCM)
Discontinuous Conduction
Mode (DCM)
( ) ( )
( ) ( ) ( ) ( )
2 2
2 2
2
27 2 633
( )
2 0.50 2 633 2 633
Gs
s s

+ +
.
( )
DC c
c
K w
G s
s w

+
0.00485 0.004841 0.003496 0.002705
Time Constant
(Seconds)
18.9 18.4 18.45 17.9 DC Gain K
DC
12 10 7 5 Resistance ()
Test 4 Test 3 Test 2 Test 1 Variable Data
Investigate Control Methods
Proportional Integral Derivative (PID)
Loop Shaping Design (LSD)
Active Disturbance Rejection Controller
(ADRC)
Investigate Control Methods
Classical PID

+ + e
dt
d
k dt e k e k s G
d i p c
) (
Investigate Control Methods
Loop Shaping Design Method (LSD)
1
1
2
1 1
( ) ( )
1
1
m
c p
n
c
s
G s G s
s
s
s

+
_


,
_
+
+

,
2
1
( )
1 1
c
C L
G s
s s
C R C L

+ +

Low Pass Filter
Transfer Function
p
Investigate Control Methods
Active Disturbance Rejection Controller
3 0
0
z u
u
b
+

'
0 1 2
. . .( ) .
p d p d
u k e k e k r z k z +
2
2
p c
d c
k w
k w

( , ( ), ( ), ( )) ( ) ( ) y f t y t y t w t b t u t +
&& &
Investigate Control Methods
ADRC State Estimator
'
z A z B u
y C z


+
' )

0
2
0
3
0
0
2
0 0
3
0
3 * 1 0
3 * 0 1
3 * 0 0
3 *
0
3 *
0
1 0 0
0 1 0
0 0 1
w
A w
w
w
B b w
w
C
1
1

1
1

]
1

]
1
1

1
1
]
z
1
y, z
2
y, and z
3

Investigate Control Methods

Evaluate each Control Method based on a
Cost Function of the Form:
2 2
2 2
0 0
(| |) (| |) ( ) ( )
T T
e u
e u
J max k e max k u k e dt k u dt + + +

Investigate Control Methods
PID Implementation
R1 R := 4
C1
C := 1500u
L1
L := 56u
E1
EMF := 27
C4
C := 1500u
S1
D1
R2
R := 0.02
R3
R := 0.017
R4
R := 0.02
SUM1
NEG
NEG1
GAIN
GAIN1
PWM
pwm1
S & H
SAH1
LIMIT
LIMIT1
R5 R := 1.5
S2
STEP1 STEP2
TS1
R6
R := 0.001
STEP3
G(s)
GS1
LIMIT
LIMIT2
SUM2
I
INT1
D
DIFF1
S & H
SAH2
RANDOM
RANDOM1
SUM5
+
V
VM1
Investigate Control Methods
LSD and ADRC more complex
ADRC Require State Estimator
LSD easier to implement writing an .m file in
Matlab
Simulation Results
PID Response
Good response for light
loads
Rough response for heavy
loads
Cost Function
J
total
=3.976
E
max
=1.004
U
max
=1.003
E
int
=1.053
U
int
=0.9171
Simulation Results
LSD Response
Good Load
Disturbance
Better than PID
Cost Function
J
total
=3.416
E
max
=0.2239
U
max
=1.123
E
int
=0.1273
U
int
=1.942
Simulation Results
ADRC Response
Good Transient
response
Good Disturbance
Rejection
Cost Function
J
total
=10.58
E
max
=0.8631
U
max
=1.653
E
int
=0.5311
U
int
=7.533
Conclusion
ADRC is the preferred Control Method
Deals Best with Nonlinearities
LSD has good load disturbance but can not
make up for Nonlinearities
PID lags behind ADRC and LSD
Not suitable for a Buck Converter.
Buck Application:
Induction Motor Control
E1
R1
E2
E3
R2
R3
L1
L3
D1 D2 D3
D4
D6
IM1.N [rpm]
5 * C2.V [V]
5 * SUM4.VAL
t [s]
2k
-0.2k
0
0.25k
0.5k
0.75k
1k
1.3k
1.5k
1.8k
0 2 0.25 0.5 0.75 1 1.3 1.5 1.8
C1
C2
S7
PWM
PWM1
CLR
Q1
Q2
Q0
Binary
cntb31
AND3
and33
AND3
and34
AND3
and35
AND3
and36
INV
inv7
AND3
and37
AND3
and31
DAC
VAL
[3:0]
INPUT
dac1
DAC
VAL
[3:0]
INPUT
dac2
DAC
VAL
[3:0]
INPUT
dac3
DAC
VAL
[3:0]
INPUT
dac4
DAC
VAL
[3:0]
INPUT
dac5
DAC
VAL
[3:0]
INPUT
dac6
S1
S2
S3
S4
S5
S6
OR3
or31
OR3
or32
OR3
or33
OR3
or34
OR3
or35
OR3
or36
AND3
and32
INV
inv2
INV
inv3
INV
inv8
INV
inv1
INV inv5
INV
inv6
INV
inv4
INV
inv9
PWM
PWM2
+
V
VM1
CONST
CONST2
CONST
CONST3
x
n
POW1
MUL1
COMP1
LIMIT
LIMIT1
SUM1
N
E
G
NEG1
CONST
CONST1
MUL3
L2
D5
GAIN
GAIN1
I
INTG1
SUM2
D7
IM1.N [rpm]
0.140222k
MUL3.VAL
36.6495m
ADC
[3:0]
INPUT
VAL
adc1
CLK
clk1
M
3 ~ B
A
C
IM1
STEP1
STEP3
SUM4
STEP5
L4
R5
S8
COMP2
STEP2
STEP4
D8 D9 D10
D11
D12
D13
Vdc
Questions?