CN111030454A - SIDO Buck switch converter and digital control method - Google Patents

SIDO Buck switch converter and digital control method Download PDF

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CN111030454A
CN111030454A CN201911311438.0A CN201911311438A CN111030454A CN 111030454 A CN111030454 A CN 111030454A CN 201911311438 A CN201911311438 A CN 201911311438A CN 111030454 A CN111030454 A CN 111030454A
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branch
module
duty ratio
switch tube
output voltage
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CN111030454B (en
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孙大鹰
王智恒
黄超
李听
王冲
顾文华
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Nanjing University of Science and Technology
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M3/00—Conversion of dc power input into dc power output
    • H02M3/02—Conversion of dc power input into dc power output without intermediate conversion into ac
    • H02M3/04—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters
    • H02M3/10—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M3/145—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
    • H02M3/155—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only
    • H02M3/156—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only with automatic control of output voltage or current, e.g. switching regulators
    • H02M3/157—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only with automatic control of output voltage or current, e.g. switching regulators with digital control

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  • Dc-Dc Converters (AREA)

Abstract

The invention discloses an SIDO Buck switch converter and a digital control method. The converter comprises a sampling module, an A/D conversion module, an error calculation module, a PID control module, a CCB sequence-changing control module, a PWM module and a gate-level driving logic circuit. The method comprises the following steps: the sampling module converts the analog signal into a discrete signal, then the discrete signal is converted into a digital signal by the A/D conversion module, and the digital signal is input into the error calculation module; the PID module determines the duty ratio value of a new switching period according to the error value; the PWM module outputs a PWM signal according to the duty ratio value, and the driving circuit determines the on-off of the switching tube to realize the adjustment of the output voltage value; the CCB sequence changing control module judges whether sequence changing control is started or not, and when the input voltage changes, the system returns to a steady state by adjusting the input power. The invention reduces the cross interference of two branches of the switching converter, improves the dynamic response of the switching converter and improves the steady-state performance of the system.

Description

SIDO Buck switch converter and digital control method
Technical Field
The invention relates to the technical field of isolated DC-DC converters, in particular to an SIDO Buck switch converter and a digital control method.
Background
With the rapid development of science and technology, the requirement of electronic devices for integration level is increasing, for example, in portable electronic devices such as smart phones and tablet computers, various processing units are packaged on each chip, and this method is called System on chip (SoC). The SoC includes various processing units, and the operating voltages required by the different units are different, so that a power management module is required to supply power to each unit. The traditional solution is to use a plurality of independent power supplies to supply power respectively, so that a plurality of external inductors exist and a plurality of power tubes are needed.
In order to save chip area, improve system integration and reduce the number of external filter inductors, a single-inductor multiple-output switching converter technology is provided. The single-inductor double-output buck-type switching converter is one kind of single-inductor multiple-output switching converter, and the whole framework of the converter only comprises one inductor, but can output different voltages for two paths of loads. For electronic products such as smart phones and tablet computers which need two or more power supplies, a good solution is provided, and compared with a traditional multi-path DC-DC switching power supply, the power supply reduces the use of magnetic components, thereby reducing the power supply volume and reducing the power supply cost.
In the current power management, in order to obtain relatively high efficiency, a multi-mode control method is generally selected, which leads to the reduction of the dynamic performance of the power supply, and cannot meet the requirements of higher and higher dynamic performance.
Disclosure of Invention
The invention aims to provide an SIDO Buck switch converter and a digital control method which can realize the function of stable output of two paths of voltages, stabilize overshoot and undervoltage of the output voltage within a certain range, improve dynamic response, reduce cross interference among multiple paths and improve the steady-state performance of a system.
The technical solution for realizing the purpose of the invention is as follows: a kind of SIDO Buck switch converter, including sampling the computational module, A/D conversion module, error computation module, PID control module, CCB permutes the control module, PWM module and gate-level drive logic circuit, wherein:
the sampling module is used for converting the output signal from an analog signal on a continuous time domain into a discrete signal on a discrete time domain;
the A/D conversion module is used for converting the analog signals collected by the sampling module into digital signals and inputting the digital signals to the error calculation module;
the error calculation module receives the discrete signal output by the sampling module, calculates the difference between the common-mode reference voltage and the common-mode output voltage and the difference between the differential-mode reference voltage and the differential-mode output voltage to obtain the current error, and transmits the current error to the PID control module;
the PID control module comprises a differential mode PID control unit and a common mode PID control unit and is used for determining an output voltage error value, obtaining a duty ratio value of the next switching period and determining the on-off state of a switching tube;
when the input voltage changes, the CCB sequence change control module is started by the system, and the system returns to a steady state by increasing the input power or reducing the input power;
the PWM module outputs a corresponding PWM signal according to the value of the duty ratio;
and the gate-level driving logic circuit is used for adjusting the output voltage value according to the on-off state of a switching tube in the PWM signal driving topological structure.
Further, the topology of the converter is as follows:
input voltage of Vin1 branch output voltage is V o12 branch output voltage is Vo2With a switching period of TSMain switch tube SiOn duty ratio of Di1 branch switch tube S1On duty ratio of D 12 branch switch tube S2On duty ratio of D2Wherein:
main switch tube SiAnd an input voltage VinIs connected with the positive end of the main switch tube SiThe other end of the inductor is connected with one end of an inductor L; the other end of the inductor L is connected with a 1-branch switching tube S1And 2 branch switching tube S21 branch switch tube S1And the other end of the first capacitor C1And a first load resistor R1Connecting, 2-branch switching tube S2And the other end of the first capacitor C2And a second load resistor R2Connecting; a first capacitor C1And the other end of the first load resistor R1Are connected together and grounded, a second capacitor C2And the other end of the second load resistor R2The other ends of the two are connected together and grounded; in two branches, the branch 1 works before the branch 2 and the working time sequences of the two branches are complementary, namely: d1+D2＝1。
Furthermore, the output end of the A/D conversion module is connected with two input ends of the PID control module, and the other two input ends of the PID control module are common-mode reference voltage VcmrefSum and difference mode reference voltage Vdmref；
Two input ends of the differential mode PID control unit are respectively connected with a 1-branch output voltage value V output by the A/D sampling conversion unito1[k]And 2 branch output voltage Vo2[k]The other input end is connected with a differential mode reference voltage signal Vdmref(ii) a Two discrete duty ratio signals D output by differential mode PID control unit1、D2Connected with the input end of the PWM module; two input ends of the common mode PID control unit are respectively connected with a 1-branch digital output voltage value V output by the A/D sampling conversion unito1[k]2 branch digital output voltage value Vo2[k]The other input end is connected with a common-mode reference voltage signal Vcmref(ii) a Discrete duty ratio signal D output by common mode PID control unitiIs connected with the input end of the PWM module; PWM control signals output by the PWM module are respectively connected with a main switching tube Si1 branch switch tube S1And 2 branch switching tube S2。
A digital control method of an SIDO Buck switching converter comprises the following steps:
step 1, respectively sampling 1 branch analog output voltage V of the SIDO Buck switch converter at the beginning of the kth switching periodo1And 2 branch analog output voltage value Vo2The corresponding digital discrete output voltage value V is obtained through the conversion of the A/D conversion moduleo1[k]、Vo2[k]；
Step 2, outputting the voltage V of the 1 st branch in the k periodo1[k]And 2 branch output voltage value Vo2[k]Is calculated as a result Vd[k]Of a differential mode reference voltage signal VdmrefComparing to obtain a voltage error value delta Vd[k](ii) a Differential mode PID control unit according to Δ Vd[k]And the voltage error value DeltaV of the first two periodsd[k-1]、ΔVd[k-2]By a predetermined proportional control coefficient KpIntegral control coefficient KiAnd a differential control coefficient KdAs a control parameter, performs a PID control algorithm to output a duty ratio D1And D2；
Step 3, outputting the voltage V of the 1 st branch in the k periodo1[k]And 2 branch output voltage value Vo2[k]Is calculated as a result Vc[k]And a common mode reference voltage signal VcmrefComparing to obtain a voltage error value delta Vc k]Common mode PID control unit according to Δ Vc[k]And the voltage error value DeltaV of the first two periodsc[k-1]、ΔVc[k-2]Controlling the coefficient K at a preset ratiopIntegral control coefficient KiAnd a differential control coefficient KdThe value of (A) is used as a control parameter to execute a PID control algorithm and output a main switching tube SiDuty ratio D ofi；
Step 4, the PID control module transmits the duty ratio signal to the PWM module and outputs a corresponding driving signal Di,D1,D2Respectively transmitted to the main switching tube Si1 branch switch tube S 12 branch switch tube S2So as to adjust the analog output voltage value Vo1[t]And Vo2[t]；
Step 5, the branch analog output voltage of the main topological structure of the SIDO Buck switch converter is sampled and converted again through an A/D sampling conversion unit, and then sequentially passes through a PID control module and a PWM module to form a new PWM signal to control a main switch tube Si1 branch switch tube S 12 branch switch tube S2And circularly controlling to regulate the output voltage value of the 1 branchVo1And 2 branch output voltage value Vo2；
Step 6, when the input voltage changes, the system enters a CCB (charge coupled device) sequence changing control module, and at the moment, the main switch tube Si1 branch switch tube S 12 branch switch tube S2The turn-on time and the turn-on sequence of the switch are changed; in a CCB (sequence control bus) sequence change calculation module, according to the inductor current i sampled before and after sudden change of input voltageLAnd load currents i of the two brancheso1、io2Calculating the duration T of the sequence changeCAnd 1-branch switching tube S during the sequence change1On duty ratio D of1And 2 branch switching tube S2On duty ratio D of2(ii) a During the whole sequence-changing charging period, when the input voltage has positive step, the main switch tube S is connectediSetting the switch-off state to reduce the input power; on the contrary, when the input voltage has a negative step, the main switch tube S is switched oniSetting the switch to be in a closed state, and increasing input power;
and 7, performing new steady-state calculation: according to the inductive current i obtained by the sampling moduleLAnd load currents i of the two brancheso1、io2Calculate the main switch tube SiOn duty ratio D ofi1 branch switch tube S1On duty ratio D of12 branch switch tube S2On duty ratio D of2Then, the calculated duty ratio is processed by a PWM module to generate a PWM signal to control the conduction of a switching tube, thereby achieving a stable state;
step 8, after the sequence changing control is finished, the conduction duty ratio of each switching tube is a value under a new steady state, at the moment, the control system is switched to the conventional PID control, and then the PID control module is used for adjusting, so that the system finally reaches the new steady state;
and 9, sampling the output voltage again, and repeating the steps 1 to 8 to circularly control the on and off of the power tube of the switching power supply.
Further, the step 3 outputs the voltage V to the 1 st branch in the k-th periodo1[k]And 2 branch output voltage value Vo2[k]Is calculated as a result Vc[k]And a common mode reference voltage signal VcmrefComparing to obtain a voltage error value delta Vc k]Common mode PID control unit according to Δ Vc[k]And the voltage error value DeltaV of the first two periodsc[k-1]、ΔVc[k-2]Controlling the coefficient K at a preset ratiopIntegral control coefficient KiAnd a differential control coefficient KdThe value of (A) is used as a control parameter to execute a PID control algorithm and output a main switching tube SiDuty ratio D ofiThe method comprises the following steps:
step 3.1, when the actuator needs the increment of the control quantity, the incremental PID control is adopted, and the control quantity is obtained according to the recursion principle:
Δu(k)＝kp[error(k)-error(k-1)]+kierror(k)+kd[error(k)-2error(k-1)+error(k-2)](1)
in the formula kpIs the proportional control coefficient, kiIs the integral control coefficient, kdIs the differential control coefficient, error (k) is the difference between u (k) and u (k-1) at the k-th cycle;
step 3.2, setting all the components ideally, namely, not considering the conduction voltage drop of a switching tube and the parasitic resistance of an inductor and a capacitor;
the differential mode PID control unit has the following flow: firstly, the k period digital discrete output voltage value Vo1[k]And Vo2[k]As input signal for differential mode PID control unit based on Vo1[k]And Vo2[k]Is calculated as a result Vd[k]And a reference voltage VdmrefAnd carrying out iterative operation to obtain the conduction duty ratio of the branch switching tube, wherein the specific single iterative calculation process is as follows:
ΔVd[k-2]＝ΔVd[k-1](2)
ΔVd[k-1]＝ΔVd[k](3)
ΔVd[k]＝Vdmref-Vd[k](4)
ΔD＝kp(ΔVd[k]-ΔVd[k-1])+kiΔVd[k]+kd(ΔVd[k]-2ΔVd[k-1]+ΔVd[k-2]) (5)
D1[k]＝D1[k-1]+ΔD (6)
D2[k]＝1-D1[k](7)
where Δ D is the difference between the conduction duty cycle of the kth cycle 1 branch switch and the conduction duty cycle of the kth-1 cycle 1 branch switch, and D1[k]Is the duty cycle value, D, of the 1 st branch switch of the k-th cycle2[k]Is the duty cycle value, Δ V, of the 2-branch switch of the k-th cycled[k]Error of differential mode signal, Kp、Ki、KdRespectively PID coefficients;
the common mode PID control unit flow is as follows: firstly, the k period digital discrete output voltage value Vo1[k]And Vo2[k]As input signal of the common mode PID control unit according to Vo1[k]And Vo2[k]Is calculated as a result Vc[k]And a reference voltage VcmrefCarrying out iterative operation to obtain the conduction duty ratio of the main switching tube; the specific single iteration calculation process is as follows:
ΔVc[k-2]＝ΔVc[k-1](8)
ΔVc[k-1]＝ΔVc[k](9)
ΔVc[k]＝Vcmref-Vc[k](10)
ΔD＝kp(ΔVc[k]-ΔVc[k-1])+kiΔVc[k]+kd(ΔVc[k]-2ΔVc[k-1]+ΔVc[k-2]) (11)
Di[k]＝Di[k-1]+ΔD (12)
where Δ D is the difference between the conduction duty cycle of the main switch in the kth cycle and the conduction duty cycle of the main switch in the (k-1) th cycle, Di[k]Is the duty cycle value, Δ V, of the main switch of the k-th cyclec[k]Error of common mode signal, Kp、Ki、KdRespectively PID coefficients.
Further, when the input voltage changes as described in step 6, the system enters the CCB frequency conversion control module, and at this time, the main switching tube Si1 branch switch tube S 12 branch switch tube S2The turn-on time and the sequence ofChanging; in a CCB (sequence control bus) sequence change calculation module, according to the inductor current i sampled before and after sudden change of input voltageLAnd load currents i of the two brancheso1、io2Calculating the duration T of the sequence changeCAnd 1 branch switch tube S during frequency conversion1On duty ratio D of1And 2 branch switching tube S2On duty ratio D of2(ii) a During the whole sequence change, when the input voltage has positive step, the main switch tube S is connectediThe main switch tube S is set to be in an off state, so that the effect of reducing the input power is achieved, otherwise, when the input voltage generates negative step, the main switch tube S is switched oniThe switch is set to be in a conducting state, so that the effect of increasing the input power is achieved, and the method specifically comprises the following steps:
during the sequence change, the main switch tube Si1 branch switch tube S 12 branch switch tube S2All the on-times of the switches are changed; conduction duty ratio D of branch switching tube1、D2And a sequence change time TcThe method is obtained by calculation according to the capacitance charge-discharge balance of the branch circuit and the sampled load current, and the formula is as follows:
Ivnew-Iv＝-Vo2/L*Tc(13)
io1*D2＝0.5*D1*(ivnew-io1+ivnew-io1+D1*Ts*(Vin-Vo1)/L)) (14)
wherein ivnewIs the inductor valley current after the input voltage has changed.
Further, step 7 performs a new steady state calculation: according to the inductive current i obtained by the sampling moduleLAnd load currents i of the two brancheso1、io2Calculate the main switch tube SiOn duty ratio D ofi1 branch switch tube S1On duty ratio D of12 branch switch tube S2On duty ratio D of2Then, the calculated duty ratio is processed by a PWM module to generate a PWM signal to control the conduction of a switching tube, thereby achieving a steady state, and the formula is as follows:
Ipnew-Ivnew＝D1*Ts*(Vin-Vo1)/L+(Di-D1)*Ts*(Vin-Vo2)/L (15)。
compared with the prior art, the invention has the remarkable advantages that: (1) the system integration level is effectively improved, and the hardware circuit area and the cost are reduced; (2) the digital control implementation mode is adopted, compared with analog control, the method is more flexible, and the reconfigurability is stronger; (3) the proposed sequence-changing control technology minimizes the overshoot of the regulation time and voltage under transient conditions; (4) the circuit structure of the switching power supply can be expanded and applied to various switching power supply circuit structures, and has strong portability and universality; (5) the method and the device realize the rapid dynamic adjustment of the working voltage and effectively inhibit the cross interference, thereby reducing the power consumption and improving the energy conversion efficiency.
Drawings
Fig. 1 is a block diagram of a system configuration of an SIDO Buck switching converter of the present invention.
Fig. 2 is a diagram of the main topology of the SIDO Buck switching converter of the present invention.
Fig. 3 is a block diagram of a differential mode PID module in the digital control method of the SIDO Buck converter of the present invention.
Fig. 4 is a block diagram of a common mode PID module in the digital control method of the SIDO Buck switching converter of the present invention.
Fig. 5 is a schematic diagram of the dynamic response of the converter system when the input voltage changes in the present invention.
FIG. 6 is a dynamic response diagram of the branch output voltage under the conventional PID control in the present invention, wherein (a) is a dynamic response diagram of the 1-branch output voltage under the conventional PID control, and (b) is a dynamic response diagram of the 2-branch output voltage under the conventional PID control.
Fig. 7 is a dynamic response diagram of the branch output voltage in the control method of the present invention, wherein (a) is a dynamic response diagram of the branch output voltage 1 in the control method of the present invention, and (b) is a dynamic response diagram of the branch output voltage 2 in the control method of the present invention.
Detailed Description
The invention is described in further detail below with reference to the figures and specific examples.
The invention provides a novel SIDO (substrate insulated gate bipolar translator) switch converter and a working method thereof, which realize stable output of two paths of voltages by time division multiplexing of the same inductor and a frequency conversion control strategy within cycle time, and regulate the two paths of output voltages in real time by means of an incremental PID (proportion integration differentiation) control algorithm and a method of selecting combination of differential mode voltage control and common mode voltage control to achieve a preset voltage reference value.
In connection with fig. 1, the solid arrows indicate the signal flow of the control loop in the normal operation mode. The invention provides a SIDOBuck switch converter, which comprises a sampling module, an A/D conversion module, an error calculation module, a PID control module, a CCB sequence-changing control module, a gate-level driving logic circuit and a PWM module, wherein:
the sampling module is used for converting the output signal from an analog signal on a continuous time domain into a discrete signal on a discrete time domain;
the A/D conversion module is used for converting the analog signals collected by the sampling module into digital signals and inputting the digital signals to the error calculation module;
the error calculation module receives the discrete signal output by the sampling module, calculates the difference between the common-mode reference voltage and the common-mode output voltage and the difference between the differential-mode reference voltage and the differential-mode output voltage to obtain the current error, and transmits the current error to the PID control module;
the PID control module comprises a differential mode PID control unit and a common mode PID control unit and is used for determining an output voltage error value, obtaining a duty ratio value of the next switching period and determining the on-off state of a switching tube;
when the input voltage changes, the CCB sequence change control module is started by the system, and the system returns to a steady state by increasing the input power or reducing the input power;
the PWM module outputs a corresponding PWM signal according to the value of the duty ratio;
and the gate-level driving logic circuit is used for adjusting the output voltage value according to the on-off state of a switching tube in the PWM signal driving topological structure.
Combination drawing2, input voltage is VinThe input of the sampling module is 1 branch with the output voltage of Vo1And 2 branch output voltage is Vo2With a switching period of TSThe PWM module generates a main switch tube SiOn duty ratio of Di1 branch switch tube S1On duty ratio of D 12 branch switch tube S2On duty ratio of D2Wherein:
main switch tube SiAnd an input voltage VinIs connected with the positive end of the main switch tube SiThe other end of the inductor is connected with one end of an inductor L; the other end of the inductor L is connected with a 1-branch switching tube S1And 2 branch switching tube S21 branch switch tube S1And the other end of the first capacitor C1And a first load resistor R1Connecting, 2-branch switching tube S2And the other end of the first capacitor C2And a second load resistor R2Connecting; a first capacitor C1And the other end of the first load resistor R1Are connected together and grounded, a second capacitor C2And the other end of the second load resistor R2The other ends of the two are connected together and grounded; in two branches, the branch 1 works before the branch 2 and the working time sequences of the two branches are complementary, namely: d1+D2＝1。
Furthermore, the input end of the A/D conversion module is the current value i of the sampling inductor LL[t]1 branch load resistance R1Voltage value V ofo1[t]Sum current value Io1[t]And 2 branch load resistor R2Voltage value V ofo2[t]Sum current value Io2[t]The output end is used as the input end of a PID control module, and the other two input ends of the PID control module are common-mode reference voltage VcmrefSum and difference mode reference voltage Vdmref。
Furthermore, the PID control module comprises a differential mode PID control unit and a common mode PID control unit. Two input ends in the differential mode PID control unit are respectively connected with a 1-branch output voltage value V output by the A/D sampling conversion unito1[k]And 2 branch output voltage Vo2[k]The other input end is connected with a differential mode reference voltage signal Vdmref(ii) a Difference (D)Two discrete duty ratio signals D output by the module PID control unit1、D2Connected with the input end of the PWM module; two input ends of the common mode PID control unit are respectively connected with a 1-branch digital output voltage value V output by the A/D sampling conversion unito1[k]2 branch digital output voltage value Vo2[k]The other input end is connected with a common-mode reference voltage signal Vcmref(ii) a Discrete duty ratio signal D output by common mode PID control unitiIs connected with the input end of the PWM module; PWM control signals output by the PWM module are respectively connected with a main switching tube Si1 branch switch tube S1And 2 branch switching tube S2。
A digital control method of an SIDO Buck switch converter comprises the following steps: firstly, the A/D sampling conversion unit respectively outputs a voltage value V to a 1 branch of a main topological structure of the SIDOBuck switch convertero1And 2 branch output voltage value Vo2And the value of the inductance current iLAnd the load currents i of the two brancheso1、io2Sampling, and converting into 1-branch digital output voltage value V via A/D conversion moduleo1[k]And the output current value io1[k]2 branch digital output voltage value Vo2[k]And the output current value io2[k]Digital inductance current value iL[k](ii) a Then the common mode PID control unit converts the common mode voltage value VC[k]And a common mode reference voltage signal VcmrefComparing to obtain a voltage error value delta VC[k]Differential mode PID control unit converts differential mode voltage value VD[k]And differential mode reference voltage signal VdmrefComparing to obtain a voltage error value delta VD[k](ii) a Then the differential mode PID control unit and the common mode PID control unit respectively execute a PID control algorithm and output corresponding duty ratio values; finally, the duty ratio value outputs a PWM control signal through a PWM unit to drive the state of a switching tube in a main topological structure of the SIDO Buck switching converter to adjust the analog output voltage value V of the 1 branch and the 2 brancho1[t]、Vo2[t](ii) a The specific method comprises the following steps:
step 1, respectively sampling 1 branch analog output voltage V of the SIDO Buck switch converter at the beginning of the kth switching periodo1And 2 branch analog output voltage value Vo2Meridian/channelThe corresponding digital discrete output voltage value V is obtained by the conversion of the A/D conversion moduleo1[k]、Vo2[k]；
Step 2, outputting the voltage V of the 1 st branch in the k periodo1[k]And 2 branch output voltage value Vo2[k]Is calculated as a result Vd[k]Of a differential mode reference voltage signal VdmrefComparing to obtain a voltage error value delta Vd[k](ii) a Differential mode PID control unit according to DeltaVk]And the voltage error value DeltaV of the first two periodsd[k-1]、ΔVd[k-2]By a predetermined Kp，KiAnd KdThe value is used as a control parameter to execute a PID control algorithm and output a duty ratio D1And D2；
Step 3, outputting the voltage V of the 1 st branch in the k periodo1[k]And 2 branch output voltage value Vo2[k]Is calculated as a result Vc[k]And a common mode reference voltage signal VcmrefComparing to obtain a voltage error value delta Vc k]Common mode PID control unit according to Δ Vc[k]And the voltage error value DeltaV of the first two periodsc[k-1]、ΔVc[k-2]At a predetermined Kp，KiAnd KdThe value is used as a control parameter to execute a PID control algorithm and output a main switching tube SiDuty ratio D ofi(ii) a The method comprises the following specific steps:
step 3.1, when the actuator needs the increment of the control quantity, the incremental PID control is adopted, and the control quantity can be obtained according to the recursion principle:
Δu(k)＝kp[error(k)-error(k-1)]+kierror(k)+kd[error(k)-2error(k-1)+error(k-2)](1)
step 3.2, setting all the components ideally, namely, not considering the conduction voltage drop of a switching tube and the parasitic resistance of an inductor and a capacitor;
with reference to fig. 3, the flow of the differential mode PID control unit is as follows: firstly, the k period digital discrete output voltage value Vo1[k]And Vo2[k]As input signal for differential mode PID control unit based on Vo1[k]And Vo2[k]Is calculated as a result Vd[k]And a reference voltage VdmrefPerforming iterative operation to obtainThe branch switching tube is conducted with the duty ratio value. The specific single iteration calculation process is as follows:
ΔVd[k-2]＝ΔVd[k-1](2)
ΔVd[k-1]＝ΔVd[k](3)
ΔVd[k]＝Vdmref-Vd[k](4)
ΔD＝kp(ΔVd[k]-ΔVd[k-1])+kiΔVd[k]+kd(ΔVd[k]-2ΔVd[k-1]+ΔVd[k-2]) (5)
D1[k]＝D1[k-1]+ΔD (6)
D2[k]＝1-D1[k](7)
wherein Δ Vd[k]Error of differential mode signal, Kp、Ki、KdRespectively PID coefficients;
with reference to fig. 4, the common mode PID control unit flow is as follows: firstly, the k period digital discrete output voltage value Vo1[k]And Vo2[k]As input signal of the common mode PID control unit according to Vo1[k]And Vo2[k]Is calculated as a result Vc[k]And a reference voltage VcmrefCarrying out iterative operation to obtain the conduction duty ratio of the main switching tube; the specific single iteration calculation process is as follows:
ΔVc[k-2]＝ΔVc[k-1](8)
ΔVc[k-1]＝ΔVc[k](9)
ΔVc[k]＝Vcmref-Vc[k](10)
ΔD＝kp(ΔVc[k]-ΔVc[k-1])+kiΔVc[k]+kd(ΔVc[k]-2ΔVc[k-1]+ΔVc[k-2]) (11)
Di[k]＝Di[k-1]+ΔD (12)
wherein Δ Vc[k]Error of common mode signal, Kp、Ki、KdRespectively PID coefficients.
Step 4, PID controlThe system module transmits the duty ratio signal to the PWM module and outputs a corresponding driving signal Di,D1,D2Respectively transmitted to the main switching tube Si1 branch switch tube S 12 branch switch tube S2So as to adjust the analog output voltage value Vo1[t]And Vo2[t]；
Step 5, the branch analog output voltage of the main topological structure of the SIDO Buck switch converter is sampled and converted again through an A/D sampling conversion unit, and then sequentially passes through a PID control module and a PWM module to form a new PWM signal to control a main switch tube Si1 branch switch tube S 12 branch switch tube S2And circularly controlling to regulate the output voltage value V of the 1 brancho1And 2 branch output voltage value Vo2；
And 6, when the input voltage changes, the system enters a CCB (charge coupled device) variable frequency control module, and at the moment, a main switching tube Si1 branch switch tube S 12 branch switch tube S2The conduction time and the sequence of the current are changed; in a CCB (sequence control bus) sequence change calculation module, according to the inductor current i sampled before and after sudden change of input voltageLAnd load currents i of the two brancheso1、io2Calculating the duration T of the sequence changeCAnd 1 branch switch tube S during frequency conversion1On duty ratio D of1And 2 branch switching tube S2On duty ratio D of2(ii) a During the whole sequence change, when the input voltage has positive step, the main switch tube S is connectediThe main switch tube S is set to be in an off state, so that the effect of reducing the input power is achieved, otherwise, when the input voltage generates negative step, the main switch tube S is switched oniThe power is set to be in a conducting state, so that the effect of increasing the input power is achieved;
referring to FIG. 5, during the sequence change, the main switch tube Si1 branch switch tube S 12 branch switch tube S2All the on-times of the switches are changed; conduction duty ratio D of branch switching tube1、D2And a sequence change time TcThe method is obtained by calculation according to the capacitance charge-discharge balance of the branch circuit and the sampled load current, and the formula is as follows:
Ivnew-Iv＝-Vo2/L*Tc(13)
io1*D2＝0.5*D1*(ivnew-io1+ivnew-io1+D1*Ts*(Vin-Vo1)/L)) (14)
wherein ivnewIs the inductor valley current after the input voltage has changed.
And 7, after the CCB sequence changing calculation module is finished, entering a new steady state calculation step, and obtaining the inductive current i according to the sampling moduleLAnd load currents i of the two brancheso1、io2Calculate the main switch tube SiOn duty ratio D ofi1 branch switch tube S1On duty ratio D of12 branch switch tube S2On duty ratio D of2And then generating a PWM signal by the calculated duty ratio through a PWM module, and controlling the conduction of a switching tube through a gate-level driving logic circuit so as to quickly reach a steady state. The formula is as follows:
Ipnew-Ivnew＝D1*Ts*(Vin-Vo1)/L+(Di-D1)*Ts*(Vin-Vo2)/L (15)
step 8, after the sequence changing control is finished, the conduction duty ratio of each switching tube is a value under a new steady state, at the moment, the control system is switched to the conventional PID control, and then the PID module is used for adjusting, so that the system finally reaches the new steady state;
and 9, sampling the output voltage again, and repeating the steps 1 to 8 to circularly control the on and off of the power tube of the switching power supply.
Examples
According to the control method, simulation is carried out in the Simulink environment of matlab. Input voltage V of the topologyinThe voltage is 3.3V and 4.2V, and the load resistance of the two branches is 18 omega and 15 omega respectively. Output voltage V of 1 brancho1Is 1.8V, and the output voltage V of 2 brancheso2It was 1.5V. Fig. 6(a) is a dynamic result of the 1-branch output voltage under the conventional PID control when the input voltage is changed. FIG. 6(b) shows the input voltageAnd when the change occurs, the output voltage of the 2 branch circuit is a dynamic result under the control of the conventional PID. Fig. 7(a) shows the dynamic result of the 1-branch output voltage using the present control method when the input voltage changes. Fig. 7(b) shows the dynamic result of the 2-branch output voltage under the present control method when the input voltage changes. It can be seen that, before the control method for improving dynamic response is not adopted, the maximum undervoltage of the output voltage is 0.8V, the recovery time is 1.4ms, after the technology is adopted, the maximum undervoltage of the output voltage is 0.02V, the recovery time is 0.4ms, and the dynamic performance is greatly improved.
In summary, the present invention provides an SIDO Buck switching converter and a digital control method thereof, which reduce cross interference between two branches of the switching converter, improve dynamic response of the switching converter, and improve steady-state performance of the system.

Claims (7)

1. The SIDO Buck switch converter is characterized by comprising a sampling calculation module, an A/D conversion module, an error calculation module, a PID control module, a CCB sequence-changing control module, a gate-level driving logic circuit and a PWM module, wherein:
the sampling module is used for converting the output signal from an analog signal on a continuous time domain into a discrete signal on a discrete time domain;
the A/D conversion module is used for converting the analog signals collected by the sampling module into digital signals and inputting the digital signals to the error calculation module;
the error calculation module receives the discrete signal output by the sampling module, calculates the difference between the common-mode reference voltage and the common-mode output voltage and the difference between the differential-mode reference voltage and the differential-mode output voltage to obtain the current error, and transmits the current error to the PID control module;
the PID control module comprises a differential mode PID control unit and a common mode PID control unit and is used for determining an output voltage error value, obtaining a duty ratio value of the next switching period and determining the on-off state of a switching tube;
when the input voltage changes, the CCB sequence change control module is started by the system, and the system returns to a steady state by increasing the input power or reducing the input power;
the PWM module outputs a corresponding PWM signal according to the value of the duty ratio;
and the gate-level driving logic circuit is used for adjusting the output voltage value according to the on-off state of a switching tube in the PWM signal driving topological structure.
2. The SIDO Buck switching converter according to claim 1, wherein the topology of the converter is as follows:
input voltage of Vin1 branch output voltage is Vo12 branch output voltage is Vo2With a switching period of TSMain switch tube SiOn duty ratio of Di1 branch switch tube S1On duty ratio of D12 branch switch tube S2On duty ratio of D2Wherein:
main switch tube SiAnd an input voltage VinIs connected with the positive end of the main switch tube SiThe other end of the inductor is connected with one end of an inductor L; the other end of the inductor L is connected with a 1-branch switching tube S1And 2 branch switching tube S21 branch switch tube S1And the other end of the first capacitor C1And a first load resistor R1Connecting, 2-branch switching tube S2And the other end of the first capacitor C2And a second load resistor R2Connecting; a first capacitor C1And the other end of the first load resistor R1Are connected together and grounded, a second capacitor C2And the other end of the second load resistor R2The other ends of the two are connected together and grounded; in two branches, the branch 1 works before the branch 2 and the working time sequences of the two branches are complementary, namely: d1+D2＝1。
3. The SIDO Buck switching converter according to claim 1 or 2, wherein the output terminal of the a/D conversion module is connected to two input terminals of the PID control module, and the other two input terminals of the PID control module are common-mode reference voltage VcmrefSum and difference mode reference voltage Vdmref；
Two input ends of the differential mode PID control unit are respectively connected with a 1-branch output voltage value V output by the A/D sampling conversion unito1[k]And 2 branch output voltage Vo2[k]The other input end is connected with a differential mode reference voltage signal Vdmref(ii) a Two discrete duty ratio signals D output by differential mode PID control unit1、D2Connected with the input end of the PWM module; two input ends of the common mode PID control unit are respectively connected with a 1-branch digital output voltage value V output by the A/D sampling conversion unito1[k]2 branch digital output voltage value Vo2[k]The other input end is connected with a common-mode reference voltage signal Vcmref(ii) a Discrete duty ratio signal D output by common mode PID control unitiIs connected with the input end of the PWM module; PWM control signals output by the PWM module are respectively connected with a main switching tube Si1 branch switch tube S1And 2 branch switching tube S2。
4. A digital control method of an SIDO Buck switching converter, comprising the steps of:
step 1, respectively sampling 1 branch analog output voltage V of the SIDO Buck switch converter at the beginning of the kth switching periodo1And 2 branch analog output voltage value Vo2The corresponding digital discrete output voltage value V is obtained through the conversion of the A/D conversion moduleo1[k]、Vo2[k]；
Step 2, outputting the voltage V of the 1 st branch in the k periodo1[k]And 2 branch output voltage value Vo2[k]Is calculated as a result Vd[k]Of a differential mode reference voltage signal VdmrefComparing to obtain a voltage error value delta Vd[k](ii) a Differential mode PID control unit according to Δ Vd[k]And the voltage error value DeltaV of the first two periodsd[k-1]、ΔVd[k-2]By a predetermined proportional control coefficient KpIntegral control coefficient KiAnd a differential control coefficient KdAs a control parameter, performs a PID control algorithm to output a duty ratio D1And D2；
Step 3, transmitting the 1 branch of the k periodVoltage V outo1[k]And 2 branch output voltage value Vo2[k]Is calculated as a result Vc[k]And a common mode reference voltage signal VcmrefComparing to obtain a voltage error value delta Vc k]Common mode PID control unit according to Δ Vc[k]And the voltage error value DeltaV of the first two periodsc[k-1]、ΔVc[k-2]Controlling the coefficient K at a preset ratiopIntegral control coefficient KiAnd a differential control coefficient KdThe value of (A) is used as a control parameter to execute a PID control algorithm and output a main switching tube SiDuty ratio D ofi；
Step 4, the PID control module transmits the duty ratio signal to the PWM module and outputs a corresponding driving signal Di,D1,D2Respectively transmitted to the main switching tube Si1 branch switch tube S12 branch switch tube S2So as to adjust the analog output voltage value Vo1[t]And Vo2[t]；
Step 5, the branch analog output voltage of the main topological structure of the SIDO Buck switch converter is sampled and converted again through an A/D sampling conversion unit, and then sequentially passes through a PID control module and a PWM module to form a new PWM signal to control a main switch tube Si1 branch switch tube S12 branch switch tube S2And circularly controlling to regulate the output voltage value V of the 1 brancho1And 2 branch output voltage value Vo2；
Step 6, when the input voltage changes, the system enters a CCB (charge coupled device) sequence changing control module, and at the moment, the main switch tube Si1 branch switch tube S12 branch switch tube S2The turn-on time and the turn-on sequence of the switch are changed; in a CCB (sequence control bus) sequence change calculation module, according to the inductor current i sampled before and after sudden change of input voltageLAnd load currents i of the two brancheso1、io2Calculating the duration T of the sequence changeCAnd 1-branch switching tube S during the sequence change1On duty ratio D of1And 2 branch switching tube S2On duty ratio D of2(ii) a During the whole sequence-changing charging period, when the input voltage has positive step, the main switch tube S is connectediSetting the switch-off state to reduce the input power; on the contrary, whenWhen the input voltage has negative step, the main switch tube S is connectediSetting the switch to be in a closed state, and increasing input power;
and 7, performing new steady-state calculation: according to the inductive current i obtained by the sampling moduleLAnd load currents i of the two brancheso1、io2Calculate the main switch tube SiOn duty ratio D ofi1 branch switch tube S1On duty ratio D of12 branch switch tube S2On duty ratio D of2Then, the calculated duty ratio is processed by a PWM module to generate a PWM signal, and the conduction of a switching tube is controlled by a gate-level driving logic circuit, so that a stable state is achieved;
step 8, after the sequence changing control is finished, the conduction duty ratio of each switching tube is a value under a new steady state, at the moment, the control system is switched to the conventional PID control, and then the PID control module is used for adjusting, so that the system finally reaches the new steady state;
and 9, sampling the output voltage again, and repeating the steps 1 to 8 to circularly control the on and off of the power tube of the switching power supply.
5. The digital control method of the SIDO Buck switching converter as claimed in claim 4, wherein the step 3 outputs the voltage V of the 1 st branch of the k-th cycleo1[k]And 2 branch output voltage value Vo2[k]Is calculated as a result Vc[k]And a common mode reference voltage signal VcmrefComparing to obtain a voltage error value delta Vc k]Common mode PID control unit according to Δ Vc[k]And the voltage error value DeltaV of the first two periodsc[k-1]、ΔVc[k-2]Controlling the coefficient K at a preset ratiopIntegral control coefficient KiAnd a differential control coefficient KdThe value of (A) is used as a control parameter to execute a PID control algorithm and output a main switching tube SiDuty ratio D ofiThe method comprises the following steps:
step 3.1, when the actuator needs the increment of the control quantity, the incremental PID control is adopted, and the control quantity is obtained according to the recursion principle:
Δu(k)＝kp[error(k)-error(k-1)]+kierror(k)+kd[error(k)-2error(k-1)+error(k-2)](1)
in the formula kpIs the proportional control coefficient, kiIs the integral control coefficient, kdIs the differential control coefficient, error (k) is the difference between u (k) and u (k-1) at the k-th cycle;
step 3.2, setting all the components ideally, namely, not considering the conduction voltage drop of a switching tube and the parasitic resistance of an inductor and a capacitor;
the differential mode PID control unit has the following flow: firstly, the k period digital discrete output voltage value Vo1[k]And Vo2[k]As input signal for differential mode PID control unit based on Vo1[k]And Vo2[k]Is calculated as a result Vd[k]And a reference voltage VdmrefAnd carrying out iterative operation to obtain the conduction duty ratio of the branch switching tube, wherein the specific single iterative calculation process is as follows:
ΔVd[k-2]＝ΔVd[k-1](2)
ΔVd[k-1]＝ΔVd[k](3)
ΔVd[k]＝Vdmref-Vd[k](4)
ΔD＝kp(ΔVd[k]-ΔVd[k-1])+kiΔVd[k]+kd(ΔVd[k]-2ΔVd[k-1]+ΔVd[k-2]) (5)
D1[k]＝D1[k-1]+ΔD (6)
D2[k]＝1-D1[k](7)
where Δ D is the difference between the conduction duty cycle of the kth cycle 1 branch switch and the conduction duty cycle of the kth-1 cycle 1 branch switch, and D1[k]Is the duty cycle value, D, of the 1 st branch switch of the k-th cycle2[k]Is the duty cycle value, Δ V, of the 2-branch switch of the k-th cycled[k]Error of differential mode signal, Kp、Ki、KdRespectively PID coefficients;
the common mode PID control unit flow is as follows: firstly, the k period digital discrete output voltage value Vo1[k]And Vo2[k]As common mode PID controlInput signal of control unit, common mode PID control unit according to Vo1[k]And Vo2[k]Is calculated as a result Vc[k]And a reference voltage VcmrefCarrying out iterative operation to obtain the conduction duty ratio of the main switching tube; the specific single iteration calculation process is as follows:
ΔVc[k-2]＝ΔVc[k-1](8)
ΔVc[k-1]＝ΔVc[k](9)
ΔVc[k]＝Vcmref-Vc[k](10)
ΔD＝kp(ΔVc[k]-ΔVc[k-1])+kiΔVc[k]+kd(ΔVc[k]-2ΔVc[k-1]+ΔVc[k-2]) (11)
Di[k]＝Di[k-1]+ΔD (12)
where Δ D is the difference between the conduction duty cycle of the main switch in the kth cycle and the conduction duty cycle of the main switch in the (k-1) th cycle, Di[k]Is the duty cycle value, Δ V, of the main switch of the k-th cyclec[k]Error of common mode signal, Kp、Ki、KdRespectively PID coefficients.
6. The digital control method of the SIDO Buck converter as claimed in claim 4, wherein the step 6 when the input voltage changes, the system enters the CCB frequency conversion control module, and the main switch tube S is at this timei1 branch switch tube S12 branch switch tube S2The conduction time and the sequence of the current are changed; in a CCB (sequence control bus) sequence change calculation module, according to the inductor current i sampled before and after sudden change of input voltageLAnd load currents i of the two brancheso1、io2Calculating the duration T of the sequence changeCAnd 1 branch switch tube S during frequency conversion1On duty ratio D of1And 2 branch switching tube S2On duty ratio D of2(ii) a During the whole sequence change, when the input voltage has positive step, the main switch tube S is connectediIs set to an off state, thereby achieving the effect of reducing the input power, and vice versa,when the input voltage has a negative step, the main switch tube S is connectediThe switch is set to be in a conducting state, so that the effect of increasing the input power is achieved, and the method specifically comprises the following steps:
during the sequence change, the main switch tube Si1 branch switch tube S12 branch switch tube S2All the on-times of the switches are changed; conduction duty ratio D of branch switching tube1、D2And a sequence change time TcThe method is obtained by calculation according to the capacitance charge-discharge balance of the branch circuit and the sampled load current, and the formula is as follows:
Ivnew-Iv＝-Vo2/L*Tc(13)
io1*D2＝0.5*D1*(ivnew-io1+ivnew-io1+D1*Ts*(Vin-Vo1)/L)) (14)
wherein ivnewIs the inductor valley current after the input voltage has changed.
7. The digital control method of the SIDO Buck switching converter as claimed in claim 4, wherein said step 7 of performing a new steady state calculation: according to the inductive current i obtained by the sampling moduleLAnd load currents i of the two brancheso1、io2Calculate the main switch tube SiOn duty ratio D ofi1 branch switch tube S1On duty ratio D of12 branch switch tube S2On duty ratio D of2Then, the calculated duty ratio is processed by a PWM module to generate a PWM signal to control the conduction of a switching tube, thereby achieving a steady state, and the formula is as follows:
Ipnew-Ivnew＝D1*Ts*(Vin-Vo1)/L+(Di-D1)*Ts*(Vin-Vo2)/L (15)。
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