TW201230641A - Method and for generating PWM signals and a pulse width modulation power converter - Google Patents

Method and for generating PWM signals and a pulse width modulation power converter Download PDF

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TW201230641A
TW201230641A TW100140982A TW100140982A TW201230641A TW 201230641 A TW201230641 A TW 201230641A TW 100140982 A TW100140982 A TW 100140982A TW 100140982 A TW100140982 A TW 100140982A TW 201230641 A TW201230641 A TW 201230641A
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pulse width
width modulation
output voltage
pid
signal
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TW100140982A
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TWI569567B (zh
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Frank Trautmann
Armin Stingl
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Zentr Mikroelekt Dresden Gmbh
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    • H—ELECTRICITY
    • H03—ELECTRONIC CIRCUITRY
    • H03K—PULSE TECHNIQUE
    • H03K3/00—Circuits for generating electric pulses; Monostable, bistable or multistable circuits
    • H03K3/01—Details
    • H03K3/017—Adjustment of width or dutycycle of pulses
    • 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
    • H02M1/00—Details of apparatus for conversion
    • H02M1/08—Circuits specially adapted for the generation of control voltages for semiconductor devices incorporated in static converters
    • H02M1/081—Circuits specially adapted for the generation of control voltages for semiconductor devices incorporated in static converters wherein the phase of the control voltage is adjustable with reference to the AC source
    • H02M1/082—Circuits specially adapted for the generation of control voltages for semiconductor devices incorporated in static converters wherein the phase of the control voltage is adjustable with reference to the AC source with digital control
    • 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
    • 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
    • H02M3/15—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 discharge tubes only
    • 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
    • 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
    • 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
    • H02M3/158—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 including plural semiconductor devices as final control devices for a single load
    • 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
    • H02M1/00—Details of apparatus for conversion
    • H02M1/0003—Details of control, feedback or regulation circuits
    • H02M1/0016—Control circuits providing compensation of output voltage deviations using feedforward of disturbance parameters
    • H02M1/0019—Control circuits providing compensation of output voltage deviations using feedforward of disturbance parameters the disturbance parameters being load current fluctuations
    • 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
    • H02M3/22—Conversion of dc power input into dc power output with intermediate conversion into ac
    • H02M3/24—Conversion of dc power input into dc power output with intermediate conversion into ac by static converters
    • H02M3/28—Conversion of dc power input into dc power output with intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate ac
    • H02M3/325—Conversion of dc power input into dc power output with intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate ac using devices of a triode or a transistor type requiring continuous application of a control signal
    • H02M3/335—Conversion of dc power input into dc power output with intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate ac using devices of a triode or a transistor type requiring continuous application of a control signal using semiconductor devices only

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Dc-Dc Converters (AREA)

Description

201230641 六、發明說明： 【發明所屬之技術領域】 ： [0001] 本發明與一種用於產生具有改良正向負載暫態反應的PWM 信號的方法及裝置有關。本發明特別地與一種用於在切 換調節器或功率轉換器中利用具有pWM重新啟動的過取樣 產生PWM信號的方法及裝置有關。 [先前技術] [0002] 切換調節器是使用電源切換、電感器以及二極體以將能 〇 ❹ 量從輸入端轉移至輸出端的電路。與使用電阻式電壓降 以調節電壓並且以熱的形式損失功率的線性調節器相比 ，切換調節器不具有電壓降以及關聯的電流，而是電流 與電壓的相位相差90度。由於這個原因，能量被儲存並 且可在切換週期的放電階段回復。在本領域中，數個類 型的切換調節器依切換電路如何設置而存在，舉例來說 ，降壓式（buck，降歷）、升壓式（boost，升壓）或 反向器（反馳式）。切換可藉由具有代表在pwM週期期間 的導通狀態的工作比D的PWM信號來控制。輸出電壓視工 作比D而定，並因此可由控制器控制，該控制器由類比數 位轉換器（ADC)、離散時間控制法則以及數位( DPWM)模組所組成。ADC取樣並量化經調節的信號、為輸 出電壓與參考輸出電壓間的差異之輸出電壓誤差。控制 法則基於量化的輸出電壓誤差計算數位工作比指令1) ^經 由以一組PID係數所配置的ρ Π)控制法則給出控制法則， 設定包括比例增益Kp、積分增益Ki以及差分增益Kd以及 時間延遲Td。數位PWM調變器以D為輸入，並在切換頻率 輸出具有受控的工作比D的PWM波形。PWM波形具有有限的 10014098#·^^ A0101 第3頁/共13頁 1013006157-0 201230641 時間解析度。例如負載之類的其他信號的感測以及量化 可視應用以及使用的特定控制法則而增加。 在先端的技藝中，於一個PWM週期期間計算一個誤差信號 以及一個工作比。若大量負載暫態發生時，PID控制器的 反應可能是很慢的。 【發明内容】 [0003] 因此，本發明的目的是提供一種用於產生的PWM信號之裝 置及方法，該PWM信號導致對負載暫態較先前技術優越之 反應。 該目的以獨立申請專利範圍的特徵實現。從屬申請專利 範圍與本發明的進一步方面有關。 本發明與一種用於功率轉換器的控制方法有關，其中根 據脈寬調變信號與輸入電壓產生輸出電壓。藉由取樣輸 出電壓與差分化所取樣的輸出電壓以及參考輸出電壓來 產生誤差信號。定義了脈寬調變信號的工作週期之工作 比是利用PID控制演算法藉由提供工作比給脈寬調變器而 產生脈寬調變信號來測定。工作比會受監控並藉由計算 工作比差異來與其前導子進行比較。藉由計算與比較一 個PWM週期内的多個工作比以持續地監控工作比。若於脈 寬調變信號的不工作時間期間内工作比差異超過臨界值 的情況下，觸發脈寬調變器以啟動新的脈寬調變週期。 較佳地，在偵測到負載暫態的情況下，監控工作比。可 藉由持續地監控誤差信號來偵測負載暫態。 可藉由對在一個PWM週期内的多個誤差信號進行取樣來過 取樣輸出電壓信號及/或誤差信號。此過取樣對於負載暫 態偵測為必需的，因為在一個PWM週期内的多個工作比分 10014098^^'^ A0101 第4頁/共13頁 1013006157-0 201230641 別與其刖導子進行比較。 進一步地，取樣誤差信號的移動平均由移動平均濾波器 计算。此導致内插的誤差信號，在ADC提供的樣本之間的 支援。此外，藉由應用移動平均濾波器，誤差信號的波 動會受到抑制^ 本發明的—方面與採用兩組不同的PID係數有關。在偵測 到穩態的情況下選擇第一組PID係數並且在偵測到負載暫 態的情況下選擇第二組!^!)係數。在從穩態改變成負載暫 態的情況下，兩組係數間的切換在觸發PWM的重新啟動之 前發生。負栽暫態導致工作比快速上升’並且在兩連續 的工作比超過臨界值的情況下，啟動新的PWM週期》 在負載暫態偵測的情況下，可選擇非線性增益KP。相較 於線性增益，自適應的#線性增益£1>具有更快達到穩態 的優點。 本發明的一方面與脈寬調變功率轉換器有關’脈寬調變 功率轉換器包括根據脈寬調變信號產生輸出電壓以及利 用切換元件產生輸入電壓的輸出級。調變器進一步包 〇 括用於提供參考輸出電壓的裝置以及與該輸出級以及該 用於提供參考輸出電壓的裝置連接之類比數位轉換器。 該ADC取樣並放大輸出電壓與參考輸出電壓間之差異以產 生誤差信號。與該ADC以及該切換元件連接的PID控制器 ，其測定產生該PWM信號的脈寬調變器的工作比，其中該 PID控制器由一組PID係數來配置。該脈寬調變功率轉換 器進一步包括用於監控工作比的裝置。這些裝置包括用 於藉由產生工作比差異以將其前導子與工作比的每個數 值進行比較的裝置。在信號的不工作時間期間，在工 10_严删1 1013006157-0 第5頁/共13頁 201230641 作比差異超過臨界值的情況下， 的PWM週期。 調變器以啟動新 脈寬調變功率轉換器可包括用 ψ f , e '偵捌負載暫態或穩態的
裝置’#,佳是用於監控誤差信號的H 本發明的-方面與過取樣有關。脈寬調變功轉換器包 括用於提供類比數位轉換器第— 、。 . * 寺脈頻率以及提供脈寬 調變态第—時脈頻率的裝置，复 該第二時脈頻率。 "中^ —時脈頻率高於 本發明的進一步方面與過取樣右明 笪@ ¥ 有關。pWM功率轉換器包括 十算誤差㈣動平均之移動平均濾波器。 :提供ΡΠ)控制器兩組不同的PID係數第一組用於穩態 並且在_到負«態㈣況下提供第二組。將此兩組 儲存於記憶體並且經由選擇器裝置選擇兩組中的一組。 本發明的進—步方面與用於暫態模式的第二組ΡΠ)係數有 關。對於關增《Ρ，在儲錢置巾提㈣個非線性增 益係數。非線性的增益練是依據負載暫態以自適性地 選擇。 本發明的進一步優點為，由於對負栽暫態的優異反應， 可能降低在印刷電路板上電容器的尺寸。 【實施方式】 _]第1圖顯示了於負載電流正向改變所引起的負載暫態 時無重新啟動PWM的步階響應。在每個標稱pWM週期丨6的 開始取誤差彳5藏12之樣本13。亦於每pwjj週期16計算— 次工作比1 4。 根據本發明的具體實施例’第2圖顯示有pWM重新啟動的 1013006157-0 步階響應。於此，過取樣誤差信號22。在每個標稱的PWM 10014098产單編號A〇101 第6頁/共13頁 201230641 週期26取多個樣本13。在一個標稱PWM週期26内，為每 個樣本計算工作比24。進一步地，對兩連續工作比間之 差異28進行計算並與臨界值比較。若於pwm信號25的不工 作時間期間差異2 8超過臨界值’則啟動新的標稱週期 26，因此導致縮短的電流PWM週期27。 雖然本發明已經以圖示與上面的描述詳細說明並描述， 此類說明與描述要視為說明性的或示範性的而非限制性 的。將了解在下列申請專利範圍之範圍與精神内可由本 領域中具有通常知識者進行改變與修飾。 【圖式簡單說明】 [0005] 於此’以示範性具體實施例.並參考附圖.更詳細地描述根 據本發明的裝置與方法，其中： 第1圖 顯示無PWM重新啟動的步階響應 第2圖 顯示有PWM重新啟動的步階響應 【主要元件符號說明】 [0006] 11負載電流 12誤差信號 13誤差信號之取樣點 14工作比 15 PWM信號 16標稱PWM週期 21負載電流 22誤差信號 23誤差信號之取樣點 2 4工作比 10014098
编號A0101 第7頁/共13頁 1013006157-0 201230641 25 PWM信號 26標稱PWM週期 27縮短的PWM週期 2 8兩連續工作比差異 1013006157-0 1〇〇14_产單編號A〇101 第8頁/共13頁

Claims (1)

  1. 201230641 七、申請專利範圍： 1 . 一種用於產生一PWM信號的方法，其中 根據一脈寬調變信號與一輸入電壓產生一輸出電壓； 藉由取樣該輸出電壓以及差分化該經取樣的輸出電壓與一 參考輸出電壓以產生一誤差信號； 利用一 PID控制演算法來確定一工作比，該工作比定義一 脈寬調變信號的一工作週期； 藉由提供該工作比至一脈寬調變器產生該脈寬調變信號； 其特徵在於 Ο 於一個PWM週期内持續監控該工作比並且藉由計算一工作 比差異而與其前導子比較，並且在該脈寬調變信號的不工 作時間期間内該工作比差異超過一臨界值的情況下，觸發 該脈寬調變器以啟動一新的脈寬調變週期。 2 .如申請專利範圍第1項所述的控制方法，其中，在偵測到 一負載暫態的情形下，監控該工作比。 3 .如申請專利範圍第2項所述的控制方法，其中，藉由持續 地監控該誤差信號來偵測該負載暫態。 〇 4 .如申請專利範圍第1項至第3項中任一項所述的控制方法， 其特徵在於，藉由在一個PWM週期内取樣多個誤差信號以 過取樣該輸出電壓及/或該誤差信號。 5 .如申請專利範圍第1項至第4項中任一項所述的控制方法， 其特徵在於，計算該取樣的誤差信號的一移動平均。 6 .如申請專利範圍第1項至第2項中任一項所述的方法，其特 徵在於，在偵測到一穩態的情況下，選擇一第一組PID係 數，並且，在偵測到一負載暫態的情況下，選擇一第二組 1001觀产單編號紐01 第9頁/共13頁 1013006157-0 201230641 PID係數。 7 .如申請專利範圍第β項所述的控制方法，其特徵在於，在 偵測一負載暫態的情況下，選擇一非線性增益Κρ。 8 . —種脈寬調變功率轉換器，包括： 一輸出級，根據一脈寬調變信號產生一輸出電壓以及利用 一切換元件產生一輸入電壓， 用於提供一參考輸出電壓的裝置， 一類比數位轉換器，與該輸出級以及該用於提供一參考輸 出電壓的裝置連接，用於取樣並放大該輸出電壓以及該參 考輸出電壓之間的一差異，以產生一誤差信號， 一PID控制器’與該類比數位轉換器以及該切換元件連接 ，其中該PID控制器藉由一組PID係數來配置，用以確定 產生該脈寬調變信號的一脈寬調變器的—工作比， 用於偵測一穩態以及一負載暫態的裝置，其特徵在於 該脈寬調變轉換器進一步包括用於藉由產生一工作比差異 以將該卫作比㈣—錄與其料子崎比較並且在該脈 作比差異超過一臨界 一新脈寬調變週期來 寬調變信號的一不工作時間期間該工作 值的情況下觸發該脈寬調變器以啟動一 持續地監控該工作比的裝置。 9,如申請專利範圍第8項所述的脈寬調變功率轉換器進一 步包括用於藉由監控該誤差信號則貞測—負載暫態 態的裝置。 ~ 第一 10014098^^^* A0101 時脈頻率高於該第二時脈頻率。 第10頁/共13頁 10 .如申請專利範圍第8項或第9項所述的脈寬調變功率轉換器 ，包括用於將一第一時脈頻率提供給該類比數位轉換器: 及將一第二時脈頻率提供給該脈寬調變器的裝置，其中气 1013006157-0 201230641 11 .如申請專利範圍第8項至第10項中任一項所述的脈寬調變 功率轉換器，包括用於計算該誤差信號的一移動平均的裝 置。 12 .如申請專利範圍第8項至第11項中任一項所述的脈寬調變 功率轉換器，進一步包括用於儲存一第一組PID係數以及 一第二組PID係數的一儲存裝置、用於選擇一組PID係數 的裝置，在偵測到該穩態的情況下，選擇該第一組PID係 數，並且在偵測到一負載暫態的情況下，選擇該第二組 PID係數。 ^ 13 .如申請專利範圍第12項所述的脈寬調變功率轉換器，進一 步包括用於儲存該第二組PID係數的多個非線性增益係數 KP並且在負載暫態偵測的情況下自適性地選擇一非線性增 益Kp的裝置。 10014098^單編號 Α〇101 第11頁/共13頁 1013006157-0
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