WO2001005021A1 - Robust average current mode electronic circuit for switched dc-dc converters, and method - Google Patents

Robust average current mode electronic circuit for switched dc-dc converters, and method Download PDF

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Publication number
WO2001005021A1
WO2001005021A1 PCT/ES2000/000244 ES0000244W WO0105021A1 WO 2001005021 A1 WO2001005021 A1 WO 2001005021A1 ES 0000244 W ES0000244 W ES 0000244W WO 0105021 A1 WO0105021 A1 WO 0105021A1
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Prior art keywords
converters
switched
current mode
loop
regulator
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PCT/ES2000/000244
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Spanish (es)
French (fr)
Inventor
Gabriel Garcera Sanfeliu
Emilio Figueres Amoros
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Universidad Politecnica De Valencia
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Publication of WO2001005021A1 publication Critical patent/WO2001005021A1/en

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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
    • H02M3/22—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
    • H02M3/33507—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 with automatic control of the output voltage or current, e.g. flyback converters
    • 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

Definitions

  • a well-known method of controlling DC-DC switched mode converters is the "Average Current Mode Control of Switching Power Supphes" control.
  • Unitrode IC Product and Applications Handbook 1993-1994, Umtrode Corporation, U-140 which has been extended to switching power supplies of medium to high power and good dynamic performance.
  • medium current mode control is used in most applications (D. O'Sulhvan, H. Spruyt, A.Crausaz, "Pulse Width Modulatwn (PWM) Conductance Control ", ESA Journal, vol. 13, 1989, p. 33-46)
  • the dynamic performance (bandwidth, stability margins, audiosusceptibility and impedance of closed-loop output) of the conventional medium-mode mode control loop are sensitive to variable quantities such as: input voltage, the load and the values of the passive components of the power stage, such as inductors, capacitors, etc .. Both the input voltage and the load can vary in very wide margins, while the components of the power stage Power also vary due to tolerances, aging, temperature, etc.
  • the invention consists in adding conventional average commentary mode to the control loop
  • the output voltage of the auxiliary regulator (figure 3), which is an estimate (v cest ) of the control voltage (v c ) that would be had at the nominal power stage and in the absence of line (v,) and load disturbances ( ⁇ 0 ), is subtracted from the actual control voltage to obtain the estimation error ( ⁇ ), which is multiplied by the "performance robustness weighting factor" W, an adjustable gain between 0 and 1.
  • FIG. 3 shows the block diagram of the proposed control method. Said scheme is based on linear small signal equivalent circuits of a generic DC-DC switched Buck converter in continuous conduction, without loss of generality for operation in discontinuous conduction, for other converters derived from it or for others of minimum phase.
  • the following nomenclature is used:
  • the robust medium current mode control loop can be easily implemented by adding a few operational amplifiers to the basic medium current mode control circuit.
  • Figure 4 shows, without loss of generality, a possible practical circuit.
  • the robust medium-commentary mode control method is characterized by being applicable to DC-DC and AC-DC power converters controlled by pulse width modulation derived from the Buck topology, to others with characteristic Minimum phase dynamics and distributed power systems resulting from combining the above.
  • FIG. 1 shows the implementation of a conventional medium current mode control loop for the control of a DC-DC switched Buck converter.
  • Figure 2 presents the block diagram of said control scheme, after completing the power stage with the widely accepted "PWM Switch Model” (V. Vope ⁇ an, "Simplified analysis of PWM converters using the model of the PWM switch: paris I and IF, IEEE transactions on AES, vol. 26, no.3, 1990, p.
  • PWM Switch Model V. Vope ⁇ an, "Simplified analysis of PWM converters using the model of the PWM switch: paris I and IF, IEEE transactions on AES, vol. 26, no.3, 1990, p.
  • FIG. 490-505) shows two regulators: the current loop, G s (s), and the loop of voltage, G v (s)
  • Figure 3 shows the addition of the auxiliary regulator to the block diagram of the conventional medium current mode control, giving rise to the robust medium current mode control method object of this invention
  • Figure 4 shows a possible Physical implementation of the electronic control circuit robust medium current mode.
  • Figure 4 shows a possible electronic circuit for implementing the robust medium current mode control method in a DC-DC Buck converter. Said converter must give a variable voltage v 0 to a variable load R, despite variations in the input voltage V, and possible changes or tolerances in the values of the passive filter components L, C, R c
  • the internal current loop is based on the current sensing in the power inductor L, by means of a gain sensor R ,.
  • the transfer function of the output voltage, v OJ to the control voltage, v c is basically a first-order system, as is well known from the current mode control theory conventional average.
  • the output voltage, v 0 is introduced into the control loop through a gain or attenuation sampling network ⁇ .
  • said network has been represented as an attenuator by means of a resistive divider, but it could perfectly be an amplifier circuit, depending on the application.
  • a voltage follower (7) has been added to prevent the loading of said network by the rest of the circuit, but it is not always necessary.
  • the circuit based on the operational amplifier (2) is the voltage regulator, G v (s), whose transfer function is determined by the resistor and capacitor networks (2a) and (2b).
  • the tension of reference (2c) which can be variable, is used to adjust the value of the converter output voltage.
  • the output, u, of (2) is used for the implementation of the robust loop.
  • the sampling signal of the output voltage, ⁇ * v 0 is introduced into the auxiliary regulator based on an operational amplifier, G aux (s) / ⁇ (3), whose transfer function is formed by the resistor and capacitor networks (3a) and (3b).
  • the output of (3) is the signal of estimation of the control voltage with negative sign, -v cest .
  • Said signal and the actual control signal, v c are introduced into an inverting summing circuit (4) with adjustable gain via potentiometer (4a) or by any other electronic method.
  • Said adjustable gain determines the value of the robustness factor W.
  • the output of (4) gives the estimation error signal multiplied by W and with a negative sign, -W * err.
  • Said signal and the output, u, of the voltage regulator (2) are subtracted from the network based on an operational amplifier (5) to obtain the control voltage, v c , which excites the current regulator (1).
  • the resistor and capacitor values of the networks (la), (Ib), (2a) and (2b) are designed according to the usual methods in conventional medium current mode control, for a power stage (Vi, L, C, R c , R, etc.) equal to the desired nominal, VOC nom (s).
  • the networks (3a) and (3b) of the auxiliary regulator (3) are implemented so that the auxiliary regulator, G aux (s), presents the reverse transfer function of the desired first order low pass power stage, VOC nom (s) It is convenient to add a high frequency pole to G aux (s), of lower frequency than the switching of the converter, to limit the high frequency gain of G aux (s), of derivative character.
  • the specific PWM DC-DC or AC-DC converter to which the robust medium current mode control and its topology is applied is independent of the object of the invention: Push-pull, half-bridge, full bridge, etc.
  • the valid power topologies are all those derived from the Buck, and also those that have a minimum dynamic phase characteristic.
  • the properties of the robust medium current mode control are independent of whether a specific integrated circuit for PWM control is used in the implementation, of whether all the control circuitry is discrete, or of the different technological solutions of electronic implementation of the control loop .
  • the robust medium current mode control loop can replace any conventional medium current mode control loop existing in DC-DC switched Buck converters, their derivatives, which are the most used in medium and high power, and other converters with dynamic phase characteristics minimum It has direct applications in:
  • Switching power supplies with high dynamic performance such as those for aeronautical and aerospace applications (airplanes, satellites, spacecraft, etc.) - Distributed DC-DC or AC-DC power systems based on parallelization of converters.
  • this type of modular solutions is being used based on placing as many standard modules in parallel as current demands the load.
  • the mductance and total filtering capacity that the regulator "sees" depends on the number of converters, N, in parallel, whereby the robust loop is potentially very suitable for maintaining given dynamic performance, regardless of N.

Abstract

The invention consists in adding to the conventional average current mode control loop (with two regulators, the voltage regulator and the current regulator) a third auxiliary regulator which is easily implementable by means of operational amplifiers, thereby providing improved dynamics characteristics to switched DC-DC and AC-DC converters which are controlled by pulse width modulation (PWM) and are derived from the Buck topology, and to other converters with minimal phase dynamic characteristics and to distributed power systems resulting from the combination of the former converters.

Description

TÍTULOTITLE
Método y circuito electrónico de control modo corriente media robusto de conversores DC-DC conmutados.Method and electronic control circuit robust medium current mode of switched DC-DC converters.
SECTOR DE LA TÉCNICA Electrónica de potencia.SECTOR OF THE TECHNIQUE Power electronics.
Teoría de control y regulación aplicada a conversión de potencia Fuentes de alimentación conmutadas.Control and regulation theory applied to power conversion Switching power supplies.
ESTADO DE LA TÉCNICASTATE OF THE TECHNIQUE
Un método de control modo corriente de conversores DC-DC conmutados bien conocido es el control modo corriente media ("Average Current Mode Control of Switching Power Supphes". Unitrode IC Product and Applications Handbook 1993-1994, Umtrode Corporation, U-140), que se ha extendido a fuentes de alimentación conmutadas de media a alta potencia y de buenas prestaciones dinámicas. De hecho, en aplicaciones aeroespaciales, por ejemplo en fuentes de alimentación para satélites, se utiliza el control modo corriente media en la mayoría de aplicaciones (D. O'Sulhvan, H. Spruyt, A.Crausaz, "Pulse Width Modulatwn (PWM) Conductance Control", ESA Journal, vol. 13, 1989, pág. 33-46)A well-known method of controlling DC-DC switched mode converters is the "Average Current Mode Control of Switching Power Supphes" control. Unitrode IC Product and Applications Handbook 1993-1994, Umtrode Corporation, U-140), which has been extended to switching power supplies of medium to high power and good dynamic performance. In fact, in aerospace applications, for example in satellite power supplies, medium current mode control is used in most applications (D. O'Sulhvan, H. Spruyt, A.Crausaz, "Pulse Width Modulatwn (PWM) Conductance Control ", ESA Journal, vol. 13, 1989, p. 33-46)
Como ocurre con todos los métodos de control de fuentes conmutadas conocidos, las prestaciones dinámicas (ancho de banda, márgenes de estabilidad, audiosusceptibilidad e impedancia de salida en lazo cerrado) del lazo de control modo comente media convencional son sensibles a magnitudes variables como: la tensión de entrada, la carga y los valores de los componentes pasivos de la etapa de potencia, como inductores, condensadores, etc.. Tanto la tensión de entrada como la carga pueden variar en márgenes muy amplios, mientras que los componentes de la etapa de potencia también varían debido a tolerancias, envejecimiento, temperatura, etc.As with all known switching source control methods, the dynamic performance (bandwidth, stability margins, audiosusceptibility and impedance of closed-loop output) of the conventional medium-mode mode control loop are sensitive to variable quantities such as: input voltage, the load and the values of the passive components of the power stage, such as inductors, capacitors, etc .. Both the input voltage and the load can vary in very wide margins, while the components of the power stage Power also vary due to tolerances, aging, temperature, etc.
La experiencia de los inventores ha demostrado que es posible mejorar el control modo corriente media convencional para mantener unas especificaciones dinámicas dadas ante todas las variaciones descritas. Este nuevo método de control es el objeto de la presente invención.The experience of the inventors has shown that it is possible to improve the conventional medium current mode control to maintain dynamic specifications given to all the variations described. This new control method is the object of the present invention.
DESCRIPCIÓN DE LA INVENCIÓN La invención consiste en añadir al lazo de control modo comente media convencionalDESCRIPTION OF THE INVENTION The invention consists in adding conventional average commentary mode to the control loop
(con dos reguladores, el de tensión y el de corriente) un tercer regulador auxiliar, fácilmente ímplementable mediante amplificadores operacionales, que provee de gran robustez a la dinámica de conversores DC-DC y AC-DC conmutados controlados por modulación en ancho de pulso (PWM) derivados de la topología Buck, de otros con características dinámicas de fase mínima y de sistemas de potencia distribuidos resultantes de combinar los anteriores.(with two regulators, voltage and current) a third auxiliary regulator, easily It can be implemented by means of operational amplifiers, which provides great robustness to the dynamics of DC-DC and AC-DC switched converters controlled by pulse width modulation (PWM) derived from the Buck topology, others with dynamic characteristics of minimum phase and systems of distributed power resulting from combining the above.
El control modo corriente media convencional (figuras 1 y 2) se basa en un lazo interno de corriente controlado por un regulador de corriente, Gs(s), que transforma en un sistema de primer orden la etapa de potencia, VOC(s)=v0(s)/vc(s) (figura 2), vista por el regulador del lazo de tensión externo, Gv(s). Ambos reguladores se suelen implementar mediante amplificadores operacionales y redes de impedancias basadas en resistencias y condensadores.The conventional medium current mode control (figures 1 and 2) is based on an internal current loop controlled by a current regulator, G s (s), which transforms the power stage, VOC (s) into a first-order system. = v 0 (s) / v c (s) (figure 2), seen by the external voltage loop regulator, G v (s). Both regulators are usually implemented through operational amplifiers and impedance networks based on resistors and capacitors.
El diseño de los reguladores de los lazos de corriente y de tensión (Gs (s) y Gv(s), respectivamente) en la presente invención (figuras 3 y 4) se realiza según procedimientos idénticos a los bien conocidos del control modo corriente media convencional para una etapa de potencia igual a la nominal deseada, determinada por el regulador auxiliar, Gaux(s), que se debe diseñar para presentar una función de transferencia inversa de la etapa de potencia nominal deseada paso bajo de primer orden, VOCnom(s), añadiendo un polo de alta frecuencia para evitar la amplificación excesiva del rizado de conmutación presente en la tensión de salidaThe design of the regulators of the current and voltage loops (G s (s) and G v (s), respectively) in the present invention (Figures 3 and 4) is carried out according to procedures identical to those well known in the mode control conventional average current for a power stage equal to the desired nominal, determined by the auxiliary regulator, G aux (s), which must be designed to present a reverse transfer function of the desired nominal power stage low-pass first order, VOC nom (s), adding a high frequency pole to avoid excessive amplification of the switching curl present in the output voltage
La tensión de salida del regulador auxiliar (figura 3), que es una estimación (vcest) de la tensión de control (vc) que se tendría con etapa de potencia nominal y en ausencia de perturbaciones de línea (v,) y carga (ι0), se resta de la tensión de control real para obtener el error de estimación (ε), que se multiplica por el "factor de ponderación de robustez de prestaciones" W, una ganancia ajustable entre 0 y 1. Esta señal se suma a la salida (u) del regulador de tensión, Gv(s), reforzando su acción, y provocando que la etapa de potencia VOU(s,W)=v0(s)/u(s) vista por este regulador, sea muy parecida a la nominal deseada VOC„om(s)=(v0(s)/vc(s))nom, a pesar de los cambios en la carga R, tensión de entrada V, y valores de los componentes pasivos de la etapa de potencia (L,C,R,.,..). A medida que W se acerca a la unidad, el lazo posee unas prestaciones dinámicas más robustas, existiendo un compromiso entre prestaciones y estabilidad.The output voltage of the auxiliary regulator (figure 3), which is an estimate (v cest ) of the control voltage (v c ) that would be had at the nominal power stage and in the absence of line (v,) and load disturbances (ι 0 ), is subtracted from the actual control voltage to obtain the estimation error (ε), which is multiplied by the "performance robustness weighting factor" W, an adjustable gain between 0 and 1. This signal is adds to the output (u) of the voltage regulator, G v (s), reinforcing its action, and causing the power stage VOU (s, W) = v 0 (s) / u (s) seen by this regulator , be very similar to the desired nominal VOC „ om (s) = (v 0 (s) / v c (s)) nom , despite changes in load R, input voltage V, and component values passive power stage (L, C, R,., ..). As W approaches the unit, the loop has more robust dynamic performance, with a compromise between performance and stability.
La figura 3 muestra el esquema de bloques del método de control propuesto. Dicho esquema se basa en circuitos equivalentes lineales de pequeña señal de un convertidor DC-DC conmutado Buck genérico en conducción continua, sin pérdida de generalidad para funcionamiento en conducción discontinua, para otros conversores derivados de éste o para otros de fase mínima. En las figuras 1 a 4 se utiliza la siguiente nomenclatura:Figure 3 shows the block diagram of the proposed control method. Said scheme is based on linear small signal equivalent circuits of a generic DC-DC switched Buck converter in continuous conduction, without loss of generality for operation in discontinuous conduction, for other converters derived from it or for others of minimum phase. In figures 1 to 4 the following nomenclature is used:
- V„ tensión de entrada del conversor DC-DC en el punto de trabajo a partir del cual se calcula el circuito equivalente de pequeña señal.- V „DC-DC converter input voltage at the working point from which the equivalent small signal circuit is calculated.
- V0, tensión de salida del conversor DC-DC en el punto de trabajo. - 10, corriente de salida del conversor en el punto de trabajo.- V 0 , output voltage of the DC-DC converter at the working point. - 1 0 , output current of the converter at the working point.
- D, ciclo de trabajo en el punto de trabajo.- D, work cycle at the work point.
- R, resistencia de carga. - V,ef, tensión de referencia del regulador de tensión, Gv(s).- R, load resistance. - V, ef , reference voltage of the voltage regulator, G v (s).
- L, inductor de filtrado.- L, filter inductor.
- C, condensador de filtrado.- C, filtering condenser.
- Rc, resistencia sene del condensador de filtrado.- R c , sene resistance of the filter capacitor.
- R„ ganancia del sensor de la corriente en el inductor de filtrado. - v,(s), perturbación de línea en pequeña señal.- R „gain of the current sensor in the filter inductor. - v, (s), small signal line disturbance.
- ι0(s), perturbación de carga en pequeña señal.- ι 0 (s), load disturbance in small signal.
- d, ciclo de trabajo en pequeña señal.- d, small signal work cycle.
- 1,, corriente en el inductor L en pequeña señal.- 1 ,, current in inductor L in small signal.
- v0(s), tensión de salida en pequeña señal. - Fm, ganancia del modulador en ancho de pulso.- v 0 (s), output voltage in small signal. - F m , pulse width modulator gain.
- β, ganancia o atenuación de la red de muestreo de la tensión de salida.- β, gain or attenuation of the sampling network of the output voltage.
- He(s), ganancia de muestreo (W. Tang, R. Ridley, F.C. Lee, "Small-signal modehng of average current mode control" IEEE APEC 1992 Conference Record, pp. 747-755).- H e (s), sampling gain (W. Tang, R. Ridley, FC Lee, "Small-signal modehng of average current mode control" IEEE APEC 1992 Conference Record, pp. 747-755).
- T,(s), ganancia de lazo del lazo de corriente interno. - Gc(s)=l+Gs(s), ganancia no inversora del regulador de corriente Gs(s).- T, (s), loop gain of the internal current loop. - G c (s) = l + G s (s), non-inverting gain of the current regulator G s (s).
- vc, tensión de control del lazo de corriente.- v c , current loop control voltage.
- u, salida del regulador de tensión, Gv(s).- u, voltage regulator output, G v (s).
- Tv(s), ganancia de lazo del lazo de tensión externo con control modo comente media convencional. - v,ef(s), tensión de referencia en pequeña señal del regulador de tensión, Gv(s).- T v (s), loop gain of the external voltage loop with conventional medium current mode control. - v, ef (s), reference voltage in small signal of the voltage regulator, G v (s).
El regulador auxiliar proporciona robustez a la etapa de potencia con control robusto, VOU(s,W), y a la ganancia de lazo del conversor, Tv(s,W), mejorando además el rechazo de las perturbaciones externas, es decir, la impedancia de salida en lazo cerrado Z0C,(s,W)=v0(s)/ι0(s) (vc≠0) y la audiosusceptibilidad en lazo cerrado A (s, W)=v0(s)/v,(s) (vc≠0). Al utilizar el método de control modo corriente media robusto, objeto de la presente invención, con factor de robustez W, las funciones de transferencia características del lazo de control son determinadas por las ecuaciones [1] a [4]. Para W=0 dichas expresiones coinciden con las del control modo corriente media convencional. En dichas ecuaciones se utilizan las siguientes funciones de transferencia:The auxiliary regulator provides robustness to the power stage with robust control, VOU (s, W), and to the converter's loop gain, T v (s, W), further improving the rejection of external disturbances, that is, the closed loop output impedance Z 0C , (s, W) = v 0 (s) / ι 0 (s) (v c ≠ 0) and closed loop audiosusceptibility A (s, W) = v 0 (s) / v, (s) (v c ≠ 0). By using the robust medium current mode control method, object of the present invention, with robustness factor W, the transfer functions characteristic of the control loop are determined by equations [1] to [4]. For W = 0, these expressions coincide with those of the conventional medium current mode control. In these equations the following transfer functions are used:
- VOC(s)=v0(s)/vc(s), la función de transferencia de la etapa de potencia con control modo corriente media convencional (una vez cerrado el lazo de corriente interno y sin perturbaciones de línea y carga, v =ιo=0). - Z0(s), impedancia de salida en lazo abierto (vc=0) del conversor con control modo corriente media convencional.- VOC (s) = v 0 (s) / v c (s), the transfer function of the power stage with conventional medium current mode control (once the internal current loop is closed and without line and load disturbances, v = ι or = 0). - Z 0 (s), open loop output impedance (v c = 0) of the converter with conventional medium current mode control.
- A(s), la audiosusceptibihdad en lazo abierto (vc=0) del conversor con control modo corriente media convencional.- A (s), the open loop audiosusceptibility (v c = 0) of the converter with conventional medium current mode control.
Figure imgf000006_0001
Tv{s, W) = - Gv {s) - VOU(s, W) [2]
Figure imgf000006_0001
T v {s, W) = - G v {s) - VOU (s, W) [2]
Figure imgf000006_0002
Figure imgf000006_0002
vβ (í)v β ( í )
Acl {s> W) = = [4] v, (s)
Figure imgf000006_0003
A cl {s> W) = = [4] v, (s)
Figure imgf000006_0003
El lazo de control modo corriente media robusto se puede implementar fácilmente añadiendo unos pocos amplificadores operacionales al circuito control modo corriente media básico. La figura 4 muestra, sin pérdida de generalidad, un posible circuito práctico.The robust medium current mode control loop can be easily implemented by adding a few operational amplifiers to the basic medium current mode control circuit. Figure 4 shows, without loss of generality, a possible practical circuit.
El método de control modo comente media robusto, objeto de esta invención, está caracterizado por ser aplicable a conversores de potencia DC-DC y AC-DC controlados por modulación en ancho de pulso derivados de la topología Buck, a otros con característica dmámica de fase mínima y a sistemas de potencia distribuidos resultantes de combinar los anteriores.The robust medium-commentary mode control method, object of this invention, is characterized by being applicable to DC-DC and AC-DC power converters controlled by pulse width modulation derived from the Buck topology, to others with characteristic Minimum phase dynamics and distributed power systems resulting from combining the above.
Las ventajas, que son mayores cuanto más se acerca W a la unidad, del lazo de control modo corriente media robusto sobre el control modo comente media convencional son las siguientes:The advantages, which are greater as W is closer to the unit, of the robust average current mode control loop over the conventional average current mode control are the following:
- Mantener la función de transferencia de la etapa de potencia, VOU(s,W), vista por el regulador de tensión, muy cercana a la nominal deseada determinada por el regulador auxiliar, Gaux(s), a pesar de variaciones muy importantes de la tensión de entrada, la carga incluyendo conducción discontinua y los valores de los componentes pasivos de la etapa de potencia (inductores y condensadores). Dicha mejora se cuantifica en función de W mediante la ecuación [1].- Maintain the transfer function of the power stage, VOU (s, W), seen by the voltage regulator, very close to the desired nominal determined by the auxiliary regulator, G aux (s), despite very important variations of the input voltage, the load including discontinuous conduction and the values of the passive components of the power stage (inductors and capacitors). This improvement is quantified as a function of W by equation [1].
- Mantener el ancho de banda y márgenes de estabilidad (margen de ganancia y margen de fase) del conversor cercanos a unos nominales deseados determinados por el regulador auxiliar, a pesar de variaciones muy importantes de la tensión de entrada, la carga incluyendo conducción discontinua y los valores de los componentes pasivos de la etapa de potencia. Dicha mejora se cuantifica en función de W mediante la ecuación [2].- Maintain the bandwidth and stability margins (gain margin and phase margin) of the converter close to the desired nominal values determined by the auxiliary regulator, despite very important variations of the input voltage, the load including discontinuous conduction and the values of the passive components of the power stage. This improvement is quantified as a function of W by equation [2].
- Disminuir la impedancia de salida en lazo cerrado respecto a la del control modo corriente media convencional en función del factor de ponderación de la robustez W, permitiendo reducciones de dicha impedancia de salida superiores a 20dB. Dicha disminución se cuantifica mediante la ecuación [3].- Reduce the output impedance in closed loop with respect to the conventional medium current mode control depending on the weighting factor of the robustness W, allowing reductions of said output impedance greater than 20dB. This decrease is quantified by equation [3].
- Disminuir la audiosusceptibilidad en lazo cerrado respecto a la del control modo corriente media convencional en función del factor de ponderación de la robustez W, permitiendo reducciones de dicha audiosusceptibihdad superiores a 20dB. Dicha disminución se cuantifica mediante la ecuación [4] .- Decrease the audiosusceptibility in closed loop with respect to the conventional average current mode control depending on the weighting factor of the robustness W, allowing reductions of said audiosusceptibility greater than 20dB. This decrease is quantified by equation [4].
La única limitación de la robustez del lazo, o del máximo valor de W, es el rizado de conmutación en la tensión de salida del conversor, que es amplificado por el regulador auxiliar, de carácter derivativo. En conversores con un contenido de rizado de conmutación del 1% del valor medio de la tensión de salida se puede alcanzar factores de robustez de W=0.9 y superiores.The only limitation of the robustness of the loop, or of the maximum value of W, is the switching curling in the output voltage of the converter, which is amplified by the auxiliary regulator, of a derivative nature. In converters with a switching ripple content of 1% of the average value of the output voltage, robustness factors of W = 0.9 and higher can be achieved.
BREVE DESCRIPCIÓN DE LOS DIBUJOS Para la mejor comprensión de todo cuanto queda descrito en la presente memoria, se acompañan unos dibujos, en los que sólo a título de ejemplo y sin pérdida de generalidad, se representa una posible implementación práctica del método de control modo corriente media robusto. La figura 1 muestra la implementación de un lazo de control modo corriente media convencional para el control de un conversor DC-DC conmutado Buck. La figura 2 presenta el diagrama de bloques de dicho esquema de control, tras lmealizar la etapa de potencia con el ampliamente aceptado "Modelo del conmutador PWM" (V. Vopeπan, "Simplified analysis of PWM converters using the model of the PWM switch: parís I and IF, IEEE transactions on AES, vol. 26, no. 3, 1990, pág. 490-505). En esta figura se aprecian dos reguladores: el del lazo de corriente, Gs(s), y el del lazo de tensión, Gv(s). La figura 3 muestra la adición del regulador auxiliar al esquema de bloques del control modo corriente media convencional, dando lugar al método de control modo corriente media robusto objeto de esta invención. La figura 4 muestra una posible implementación física del circuito electrónico de control modo corriente media robusto.BRIEF DESCRIPTION OF THE DRAWINGS For the best understanding of all that is described herein, some drawings are attached, in which only by way of example and without loss of generality, a possible practical implementation of the robust average current mode control method is represented. Figure 1 shows the implementation of a conventional medium current mode control loop for the control of a DC-DC switched Buck converter. Figure 2 presents the block diagram of said control scheme, after completing the power stage with the widely accepted "PWM Switch Model" (V. Vopeπan, "Simplified analysis of PWM converters using the model of the PWM switch: paris I and IF, IEEE transactions on AES, vol. 26, no.3, 1990, p. 490-505) .This figure shows two regulators: the current loop, G s (s), and the loop of voltage, G v (s) Figure 3 shows the addition of the auxiliary regulator to the block diagram of the conventional medium current mode control, giving rise to the robust medium current mode control method object of this invention Figure 4 shows a possible Physical implementation of the electronic control circuit robust medium current mode.
DESCRIPCIÓN DE UN MODO DE REALIZACIÓN DE LA INVENCIÓNDESCRIPTION OF AN EMBODIMENT OF THE INVENTION
La figura 4 muestra un posible circuito electrónico de implementación del método de control modo corriente media robusto en un conversor DC-DC Buck. Dicho conversor debe dar una tensión fija v0 a una carga R variable, a pesar de variaciones de la tensión de entrada V, y posibles cambios o tolerancias en los valores de los componentes pasivos de filtrado L, C, Rc Figure 4 shows a possible electronic circuit for implementing the robust medium current mode control method in a DC-DC Buck converter. Said converter must give a variable voltage v 0 to a variable load R, despite variations in the input voltage V, and possible changes or tolerances in the values of the passive filter components L, C, R c
El lazo interno de corriente se basa en el sensado de la corriente en el inductor de potencia L, mediante un sensor de ganancia R,. Al reahmentar negativamente la señal procedente del sensado de corriente hacia el regulador de corriente Gs(s) (1) basado en amplificador operacional y diseñado mediante las redes de resistencias y condensadores (la) y (Ib), e inyectar la salida de (1) en el comparador PWM (6), la función de transferencia de la tensión de salida, vOJ a la tensión de control, vc, es básicamente un sistema de primer orden, como es bien sabido de la teoría del control modo corriente media convencional.The internal current loop is based on the current sensing in the power inductor L, by means of a gain sensor R ,. By negatively reahforming the signal from the current sensing to the current regulator G s (s) (1) based on an operational amplifier and designed using the resistor and capacitor networks (la) and (Ib), and injecting the output of ( 1) in the PWM comparator (6), the transfer function of the output voltage, v OJ to the control voltage, v c , is basically a first-order system, as is well known from the current mode control theory conventional average.
La tensión de salida, v0, es introducida en el lazo de control a través de un red de muestreo de ganancia o atenuación β. En la figura 4 se ha representado dicha red como atenuadora mediante divisor resistivo, pero podría ser perfectamente un circuito amplificador, dependiendo de la aplicación. Se ha añadido un seguidor de tensión (7) para evitar la carga de dicha red por parte del resto del circuito, pero no siempre es necesario. El circuito basado en amplificador operacional (2) es el regulador de tensión, Gv(s), cuya función de transferencia se determina mediante las redes de resistencias y condensadores (2a) y (2b). La tensión de referencia (2c), que puede ser variable, sirve para ajustar el valor de la tensión de salida del conversor. La salida, u, de (2) es utilizada para la implementación del lazo robusto.The output voltage, v 0 , is introduced into the control loop through a gain or attenuation sampling network β. In Figure 4, said network has been represented as an attenuator by means of a resistive divider, but it could perfectly be an amplifier circuit, depending on the application. A voltage follower (7) has been added to prevent the loading of said network by the rest of the circuit, but it is not always necessary. The circuit based on the operational amplifier (2) is the voltage regulator, G v (s), whose transfer function is determined by the resistor and capacitor networks (2a) and (2b). The tension of reference (2c), which can be variable, is used to adjust the value of the converter output voltage. The output, u, of (2) is used for the implementation of the robust loop.
La señal de muestreo de la tensión de salida, β*v0, es introducida en el regulador auxiliar basado en amplificador operacional, Gaux(s)/β (3), cuya función de transferencia se conforma mediante las redes de resistencias y condensadores (3a) y (3b). La salida de (3) es la señal de estimación de la tensión de control con signo negativo, -vcest. Dicha señal y la señal de control real, vc, son introducidas en un circuito sumador inversor (4) de ganancia ajustable mediante potenciómetro (4a) o por cualquier otro método electrónico. Dicha ganancia ajustable determina el valor del factor de robustez W. La salida de (4) da la señal de error de estimación multiplicado por W y con signo negativo, -W*err. Dicha señal y la salida, u, del regulador de tensión (2) se restan en la red basada en amplificador operacional (5) para obtener la tensión de control, vc, que excita al regulador de corriente (1).The sampling signal of the output voltage, β * v 0 , is introduced into the auxiliary regulator based on an operational amplifier, G aux (s) / β (3), whose transfer function is formed by the resistor and capacitor networks (3a) and (3b). The output of (3) is the signal of estimation of the control voltage with negative sign, -v cest . Said signal and the actual control signal, v c , are introduced into an inverting summing circuit (4) with adjustable gain via potentiometer (4a) or by any other electronic method. Said adjustable gain determines the value of the robustness factor W. The output of (4) gives the estimation error signal multiplied by W and with a negative sign, -W * err. Said signal and the output, u, of the voltage regulator (2) are subtracted from the network based on an operational amplifier (5) to obtain the control voltage, v c , which excites the current regulator (1).
Los valores de resistencias y condensadores de las redes (la), (Ib), (2a) y (2b) se diseñan según los métodos habituales en control modo corriente media convencional, para una etapa de potencia (Vi, L, C, Rc, R, etc.) igual a la nominal deseada, VOCnom(s).The resistor and capacitor values of the networks (la), (Ib), (2a) and (2b) are designed according to the usual methods in conventional medium current mode control, for a power stage (Vi, L, C, R c , R, etc.) equal to the desired nominal, VOC nom (s).
Las redes (3a) y (3b) del regulador auxiliar (3) se implementan para que el regulador auxiliar, Gaux(s), presente la función de transferencia inversa de la etapa de potencia paso bajo de primer orden nominal deseada, VOCnom(s). Es conveniente añadir un polo de alta frecuencia a Gaux(s), de frecuencia inferior a la de conmutación del conversor, para limitar la ganancia a alta frecuencia de Gaux(s), de carácter derivativo.The networks (3a) and (3b) of the auxiliary regulator (3) are implemented so that the auxiliary regulator, G aux (s), presents the reverse transfer function of the desired first order low pass power stage, VOC nom (s) It is convenient to add a high frequency pole to G aux (s), of lower frequency than the switching of the converter, to limit the high frequency gain of G aux (s), of derivative character.
El ajuste de W puede ser empírico o determinado por software de simulación Lo óptimo es que esté cercano a la unidad, pero está limitado por el contenido de rizado de conmutación en la tensión de salida. Con un valor pico a pico del 1% en dicho rizado, se pueden conseguir factores de robustez de W=0.9, e incluso W=0.95.The setting of W can be empirical or determined by simulation software. It is best that it is close to the unit, but it is limited by the switching ripple content in the output voltage. With a peak to peak value of 1% in said curling, robustness factors of W = 0.9, and even W = 0.95, can be achieved.
Cabe destacar la sencillez circuital del método de control robusto, pues ha bastado en esta implementación particular con añadir unos pocos circuitos basados en amplificador operacional como (3) (4) (5) y (7) a la circuitería control modo corriente media convencional.It is worth noting the simple simplicity of the robust control method, since it has been enough in this particular implementation to add a few circuits based on an operational amplifier such as (3) (4) (5) and (7) to the conventional medium current mode control circuitry.
Es independiente del objeto de la invención el conversor PWM DC-DC o AC-DC concreto al que se aplica el control modo corriente media robusto y su topología: Push-pull, semipuente, puente completo, etc. Las topologías de potencia válidas son todas aquellas derivadas del Buck, y también aquellas que presenten característica dinámica de fase mínima. Asimismo, las propiedades del control modo corriente media robusto son independientes de si en la implementación se usa un circuito integrado específico para control PWM, de si toda la circuitería de control es discreta, o de las diferentes soluciones tecnológicas de implementación electrónica del lazo de control.The specific PWM DC-DC or AC-DC converter to which the robust medium current mode control and its topology is applied is independent of the object of the invention: Push-pull, half-bridge, full bridge, etc. The valid power topologies are all those derived from the Buck, and also those that have a minimum dynamic phase characteristic. Likewise, the properties of the robust medium current mode control are independent of whether a specific integrated circuit for PWM control is used in the implementation, of whether all the control circuitry is discrete, or of the different technological solutions of electronic implementation of the control loop .
APLICACIONES INDUSTRIALESINDUSTRIAL APPLICATIONS
El lazo de control modo corriente media robusto puede sustituir a cualquier lazo de control modo corriente media convencional existente en conversores DC-DC conmutados Buck, sus derivados, que son los más utilizados en media y alta potencia, y otros conversores con características dinámicas de fase mínima. Tiene aplicaciones directas en:The robust medium current mode control loop can replace any conventional medium current mode control loop existing in DC-DC switched Buck converters, their derivatives, which are the most used in medium and high power, and other converters with dynamic phase characteristics minimum It has direct applications in:
- Fuentes de alimentación conmutadas de altas prestaciones dinámicas, como las de aplicaciones aeronáuticas y aeroespaciales (aviones, satélites, naves espaciales, etc) - Sistemas DC-DC o AC-DC de potencia distribuidos basados en parale zación de conversores. Para altas corrientes se está utilizando este tipo de soluciones modulares basadas en colocar tantos módulos estándar en paralelo como corriente demande la carga. En este caso la mductancia y capacidad total de filtrado que "ve" el regulador depende del número de conversores, N, en paralelo, con lo que el lazo robusto es potencialmente muy adecuado para mantener unas prestaciones dinámicas dadas, independientemente de N.- Switching power supplies with high dynamic performance, such as those for aeronautical and aerospace applications (airplanes, satellites, spacecraft, etc.) - Distributed DC-DC or AC-DC power systems based on parallelization of converters. For high currents this type of modular solutions is being used based on placing as many standard modules in parallel as current demands the load. In this case, the mductance and total filtering capacity that the regulator "sees" depends on the number of converters, N, in parallel, whereby the robust loop is potentially very suitable for maintaining given dynamic performance, regardless of N.
- Sistemas DC-DC o AC-DC de potencia para equipos de telecomunicaciones y sistemas informáticos.- DC-DC or AC-DC power systems for telecommunications equipment and computer systems.
- Cualquier fuente de alimentación conmutada en la que la tensión de entrada, la carga o los componentes pasivos de la etapa de potencia puedan variar en grandes márgenes. - Any switched power supply in which the input voltage, the load or the passive components of the power stage can vary in large margins.

Claims

REIVINDICACIONES
1 - Método y circuito electrónico de control modo corriente media robusto de conversores DC- DC conmutados caracterizado por basarse en tres reguladores, uno interno del lazo de corriente, otro externo del lazo de tensión y un tercer regulador auxiliar.1 - Method and electronic control circuit robust medium current mode of switched DC-DC converters characterized by being based on three regulators, one internal to the current loop, another external to the voltage loop and a third auxiliary regulator.
2 - Método y circuito electrónico de control modo corriente media robusto de conversores DC- DC conmutados, según reivindicación 1, caracterizado por ser aplicable a conversores de potencia DC-DC y AC-DC controlados por modulación en ancho de pulso derivados de la topología Buck, a otros con característica dinámica de fase mínima y a sistemas de potencia distribuidos resultantes de combinar los antenores.2 - Method and electronic control circuit robust medium current mode of switched DC-DC converters, according to claim 1, characterized by being applicable to DC-DC and AC-DC power converters controlled by pulse width modulation derived from the Buck topology , to others with dynamic characteristics of minimum phase and distributed power systems resulting from combining the antennas.
3.- Método y circuito electrónico de control modo corriente media robusto de conversores DC- DC conmutados, según reivindicaciones 1 y 2, caracterizado porque el regulador auxiliar presenta la función de transferencia inversa de una etapa de potencia nominal deseada paso bajo de primer orden, más un polo de alta frecuencia para filtrado del ruido de conmutación.3. Electronic method and control circuit robust medium current mode of switched DC-DC converters, according to claims 1 and 2, characterized in that the auxiliary regulator has the function of reverse transfer of a stage of nominal power desired low pass of the first order, plus a high frequency pole for filtering switching noise.
4.- Método y circuito electrónico de control modo comente media robusto de conversores DC- DC conmutados, según reivindicaciones 1 a 3, consistente en restar la salida del regulador auxiliar de la tensión de control del lazo interno de corriente, entrada positiva del regulador del lazo de corriente, para obtener una señal de error de estimación de la señal de control, que multiplicada por un factor de ponderación de la robustez, W, variable entre 0 y 1 , se suma a la salida del regulador del lazo de tensión, reforzando su acción.4. Electronic method and control circuit with a robust medium commentary mode of switched DC-DC converters, according to claims 1 to 3, consisting of subtracting the auxiliary regulator output from the control voltage of the internal current loop, positive input of the regulator current loop, to obtain an error signal to estimate the control signal, which multiplied by a robustness weighting factor, W, variable between 0 and 1, is added to the output of the voltage loop regulator, reinforcing your action
5.- Método y circuito electrónico de control modo corriente media robusto de conversores DC- DC conmutados, según reivindicaciones 1 a 4, caracterizado porque el diseño de los reguladores de los lazos de corriente y de tensión se realiza según procedimientos idénticos a los bien conocidos del control modo corriente media convencional para una etapa de potencia igual a la nominal deseada, determinada por el regulador auxiliar.5. Electronic method and control circuit robust medium current mode of switched DC-DC converters, according to claims 1 to 4, characterized in that the design of the regulators of the current and voltage loops is carried out according to procedures identical to those well known of the conventional medium current mode control for a power stage equal to the desired nominal, determined by the auxiliary regulator.
6.- Método y circuito electrónico de control modo comente media robusto de conversores DC- DC conmutados, según reivindicaciones 1 a 5, caracterizado por mantener la etapa de potencia vista por el regulador de tensión muy cercana a la nominal deseada determinada por el regulador auxiliar, a pesar de variaciones muy importantes de la tensión de entrada, la carga incluyendo conducción discontinua y los valores de los componentes pasivos de la etapa de potencia.6. Electronic method and control circuit with a robust average commentary mode of switched DC-DC converters, according to claims 1 to 5, characterized by maintaining the power stage seen by the voltage regulator very close to the desired nominal determined by the auxiliary regulator, despite very important variations of the input voltage, the load including discontinuous conduction and the values of the passive components of the power stage.
7 - Método y circuito electrónico de control modo corriente media robusto de conversores DC- DC conmutados, según reivindicaciones 1 a 5, caracterizado por mantener el ancho de banda y márgenes de estabilidad, de fase y de ganancia, del lazo de control cercanos a unos nominales deseados determinados por el regulador auxiliar, a pesar de variaciones muy importantes de la tensión de entrada, la carga incluyendo conducción discontinua y los valores de los componentes pasivos de la etapa de potencia.7 - Method and electronic control circuit robust medium current mode of switched DC-DC converters, according to claims 1 to 5, characterized by maintaining the bandwidth and stability, phase and gain margins of the control loop close to about Desired nominal ratings determined by the auxiliary regulator, despite very important variations of the input voltage, the load including discontinuous conduction and the values of the passive components of the power stage.
8 - Método y circuito electrónico de control modo corriente media robusto de conversores DC- DC conmutados, según reivindicaciones 1 a 5, caracterizado por disminuir la impedancia de salida en lazo cerrado respecto a la del control modo comente media convencional en función del factor de ponderación de la robustez, W, permitiendo reducciones de dicha impedancia de salida superiores a 20dB.8 - Method and electronic control circuit robust medium current mode of switched DC-DC converters, according to claims 1 to 5, characterized by decreasing the impedance of closed loop output with respect to the conventional average commentary mode control as a function of the weighting factor of the robustness, W, allowing reductions of said output impedance greater than 20dB.
9.- Método y circuito electrónico de control modo corriente media robusto de conversores DC- DC conmutados, según reivindicaciones 1 a 5, caracterizado por disminuir la audiosusceptibihdad en lazo cerrado respecto a la del control modo comente media convencional en función del factor de ponderación de la robustez, W, permitiendo reducciones de dicha audiosusceptibilidad superiores a 20dB. 9. Electronic method and control circuit robust medium current mode of switched DC-DC converters, according to claims 1 to 5, characterized by decreasing the closed-loop audiosusceptibility with respect to that of the conventional average commentary mode control depending on the weighting factor of the robustness, W, allowing reductions of said audiosusceptibility greater than 20dB.
PCT/ES2000/000244 1999-07-08 2000-07-07 Robust average current mode electronic circuit for switched dc-dc converters, and method WO2001005021A1 (en)

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EP0759653A2 (en) * 1995-08-17 1997-02-26 Harris Corporation Dual mode DC-DC converter and method
WO1998009368A1 (en) * 1996-08-30 1998-03-05 Sgs-Thomson Microelectronics Method and apparatus for automatic average current mode controlled power factor correction without input voltage sensing

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EP0759653A2 (en) * 1995-08-17 1997-02-26 Harris Corporation Dual mode DC-DC converter and method
WO1998009368A1 (en) * 1996-08-30 1998-03-05 Sgs-Thomson Microelectronics Method and apparatus for automatic average current mode controlled power factor correction without input voltage sensing

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Publication number Priority date Publication date Assignee Title
EP1341144B1 (en) * 2002-03-01 2006-06-21 Magnetek S.p.A. Power circuit for a plasma display

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