IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 7, NO.

1, JANUARY 1992

37

Canonical Modeling of Power Processing Circuits Based on the POPI Concept

Sigmunt Singer and Robert W . Erickson, Member, IEEE

Abstract-The fundamental power-processing properties of switching converter circuits are modeled using generalized power-conservative (POPI) networks. Depending on the application, it may be most appropriate to model the first-order converter properties as those of an ideal transformer, gyrator, lossfree resistor, or other POPI network. These basic functions can be obtained either through selection of a topology that naturally possesses the desired characteristics or by addition of a suitable control network. Some well-known converter topologies are shown to behave naturally as gyrators, loss-free resistors, and constant power networks. Application of the gyrator to network two voltage sources, and use of the loss-free resistor as a unity power factor rectifier, is described.

;IT[
Converter
control

(a)

I-Y
Pi =

Po

1. INTRODUCTION N the process of modeling switching converters, the ideal transformer (Fig. l(b)) is used to represent the basic function of lossless conversion of dc and low-frequency ac voltage and current waveforms [ 11. This is an effective way to model many types of existing converters, particularly the continuous conduction-mode PWM type, which have voltage source outputs. The voltage conversion ratio is usually controlled, and hence the effective transformer is time variable. Exploitation of this timevariable property allows use of these converters not only in dc-to-dc voltage regulator. applications, but also in ac applications such as inverters and unity power factor rectifiers. In these applications, the voltage conversion ratio is varied continuously, such that the desired power waveforms are attained. However, there are numerous cases in which the basic power conversion process, although lossless, is not well defined by a transformer model. An extreme case is one in which both source and load have independent voltagesourcelike characteristics, and hence cannot be directly connected through an ideal transformer [2]. Another example is one in which the converter output voltage varies with load, as is often the case with resonant converters, as well as with discontinuous conduction mode PWM converters. These nontransformer characteristics can be

wntrol

(C) Fig. 1. (a) The basic functlon of a switching converter is the lossless conversion of dc and low-frequency ac waveforms. (b) Controlled transformer symbol that models the basic functions of CCM-PWM and other converters. (c) A generalized POPI network.

Manuscript received June 10, 1991; revised May 16, 1991. This work was supported in part by the Basic Research Foundation, Israel Academy of Sciences and Humanities, and by a grant from the General Electric Foundation. S. Singer is with the Faculty of Engineering, Tel Aviv University, Tel Aviv, Ramat Aviv, Israel 69978. M. W. Erickson is with the Department of Electrical and Computer Engineering, University of Colorado, Boulder, CO 80309-0425. IEEE Log Number 9104744.

desirable in some power-processing applications, and it is useful to model such converters in a way that directly exposes the basic power conversion properties. To deal with these cases, the more general two-port power processing element of Fig. l(c) is proposed. This element models the basic desired function of any converter: to process the low-frequency and dc components of the terminal voltages and currents without loss of power. Ideally, the converter output and input powers and devices that satisfy this should be equal: Po = Pi, condition are called POPI networks [3]. The objective of this paper is to obtain a better understanding of power conversion processes through the use of POPI models. The basic properties of POPI networks are discussed in Section 11. It is well known that the ideal transformer and gyrator are the only linear time-invariant forms of POPI network [4].Because of its ability to convert a voltage source into a current source, the gyrator may find application in a number of power processing areas. The gyrator is discussed in Section IV, and it is shown that the series resonant converter is a natural gyrator. Nonlinear POPI networks may assume forms other than the transformer and gyrator. These forms can also have useful power conversion properties. An example is unity power factor ac-to-dc rectification, inherently a nonlinear

0885-8993/92$03.00 0 1992 IEEE

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IEEE TRANSACTIONS ON POWER ELECTRONICS. VOL. 7 . NO. I . JANUARY 1992

process, in which it is desired that the rectifier present a linear resistive load to the ac system. The power processed by this effective load is transferred to a dc output. Such a network is called a loss-free resistor [ 5 ] . In Section V, the basic equations of loss-free resistor networks are described. It is shown that a number of commonly known converters operate naturally as loss-free resistors, including the discontinuous conduction mode buck-boost and Cuk converters, without additional feedback. Alternatively, feedforward and feedback can be used to convert a different type of POPI network, such as a time-variable transformer, into a loss-free resistor [ 5 ] . In Section VI, another type of natural POPI device, the constant power network, is described, and a current programmed discontinuous buck boost example is given. 11. THE POPI CONCEPT The POPI network is a black box power processing unit that controls the inputioutput voltages and currents such that the instantaneous output power and input power are equal. For a two-port network, denote the input voltage and current quantities as u1 and i,, and the output quantities as u2 and i2. As with any two-port device, one may denote two of these quantities as independent variables and solve for the remaining dependent quantities. In general form, the POPI equations can be written

property is not shared by other types of POPI networks, and whether it is desirable depends on the intended power processing application. IV. T H EGYRATOR The gyrator is a lossless two-port network defined by the following input-output relationship:

u,(r)i1(r)=

uZ(r)i2(r)
u(r))

(1)

xdf)

= f(xi(t),

(2)

where x,(r) and xi(f) are vectors containing the dependent and independent quantities, respectively, and u(r) is a control parameter. In the case where the POPI network is linear and time invariant, it is well known that only the ideal transformer and gyrator satisfy (1) and (2). The parameter u(r) then has the physical interpretation of transformer turns ratio and gyration constant, respectively. 111. THETIME-VARIABLE TRANSFORMER The transformer model is well known and has been applied for the description of dc-dc as well as dc-ac converters [ 11, [6]. Because in most power processing applications the input and/or output may vary, a controlled time-variable transformer (TVT) is required. The defining equations of the time variable transformer are

Gyrators have the property that they reflect networks as their duals with respect to the gyration conductance g [7]. The gyrator converts a capacitor into an inductor, resistor into admittance, voltage source into current source, and vice versa. For example, the gyrator concept has been applied for control of switching networks that convert a capacitor into an equivalent inductor [SI. Hence it is suitable for the modeling of POPI circuits, which are powered by a voltage source and which have current source output characteristics. The transformer model is not suitable for the description of such circuits as it cannot convert the voltage source (which powers the circuit) into a current source. Even more importantly, the transformer is not a suitable element for the coupling of an ideal voltage source to a load that has a voltage source characteristic because this kind of coupling would result in a Kirchhoffs voltage law (KVL) violation 121. Examples of such loads are storage batteries, gas discharge devices, voltage-stabilized loads, and distribution networks. Coupling such loads by means of a gyrator is very convenient because the gyrator converts the voltage source i.nput into a current source as viewed by the load, implying a stable operating point [2]. An example of a converter that naturally operates as a gyrator is the series resonant converter operated in the k = 2 discontinuous conduction mode. Fig. 2, in which the tank rings for exactly two complete half cycles during each half switching period [9], [IO]. The fact that this circuit exhibits current-source output characteristics suggests modeling it as a gyrator. Indeed, it can be shown that the average switching cell input and output currents are given by
I] =
i2

822

(5)
(6)

where where M ( t ) is the conversion ratio. The first-order power conversion properties of many types of converter circuits satisfy ( 3 ) , including the continuous conduction mode PWM buck, boost, buck-boost, Cuk and other converters. A notable property of the transformer is that it preserves the nature of the source input: if a voltage source is connected to the transformer input, then the transformer output also exhibits voltage source characteristics. This

1
-~ -

2rJLc

SINGER AND ERICKSON: CANONICAL MODELING OF POWER-PROCESSING CIRCUITS

il =

39

<ii,,>

___-----_______control

Fig. 3. Steady-state equivalent circuit model for the circuit of Fig. 2. The converter behaves as a gyrator. .

(b) Fig. 2. The series resonant converter. (a) Schematic. (b) Tank inductor current waveform, k = 2 discontinuous conduction mode.

L and C are the tank inductance and capacitance, andf, is

the switching frequency. Equations (5) and (6) are of the form of a gyrator, with gyration conductance g controllable by the switching frequency fs. An equivalent circuit is given in Fig. 3, which is valid provided that the converter indeed operates in k = 2 discontinuous conduction mode. The effect of the single high-frequency tank capacitor state can also be included as a further refinement to the model. The form of a POPI network can be altered by the use of feed forward and feedback. In [3], a converter with gyrator characteristics was constructed by controlling the voltage conversion ratio M of a PWM converter (which would otherwise exhibit transformer characteristics) according to the law M = -il / g v l . Substitution of this law into (3) yields the gyrator characteristics of (4). Any network that obeys (4) can be regarded as a gyrator, regardless of whether it was obtained naturally or through feedback techniques. Consider a converter with gyrator characteristics that couples a power input zll of voltage source characteristics to a load (such as a storage battery) that consists of a voltage source E in series with a small resistance r as in Fig. 4. Let us calculate the input current by transferring the load to the input terminals. Because the gyrator transforms a series into a parallel graph, with each of the components changed into its dual, the transferred load is composed of equivalent current souce gE in parallel with equivalent admittance g 2 r . The input current is, therefore,
il = gE

(C) Fig. 4. Alteration of Characteristics of a POPI network via feedback. (a) Schematic. (b) Equivalent circuit model based on the gyrator. (c) Calculation of input current by transferring load to input side of gyrator.

ment. The rules for manipulating circuits containing gyrators are well known and easy to use. The gyrator is wellsuited for interconnecting stiff voltage sources. Converters exist today with natural gyrator characteristics. V . THE LOSS-FREE RESISTOR The loss-free resistor (LFR) is a two-port POPI device whose input port obeys Ohm's law [5]:

v 1 = i,R,
The power consumed by the input port

(8)

+ g2rvl.

(7)

(9)
is transmitted to the output port. Hence, the output port behaves as a source of constant power which obeys the law

Note that, unlike the transformer case, the system currents are well controlled, even when the value of r tends to zero. Coupling v l to E by means of a transformer violates the KVL when r is zero. Thus, the gyrator is useful as a power processing ele-

P = v2i2.

(10)

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IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL 7. NO. I . JANUARY 1992

Equations (8)-( 10) are the defining relations of a loss-free resistor. The effective resistance R, is generally some function of a control input. Loss-free resistor characteristics are desirable in a number of applications, including the stabilization of gas-discharge tubes, lossless damping [lo], and high-power factor rectification. These characteristics are usually obtained by nonlinear feedback and feedfonvard around a PWM converter operating in continuous conduction mode; in effect, this converts the time-variable transformer model into a loss-free resistor. Some converter topologies, however, behave naturally as loss-free resistors without the need for external feedback. Examples include the buckboost, flyback, and Cuk converters operated in discontinuous conduction mode. Consider the buck-boost converter operated in discontinuous conduction mode, as illustrated in Fig. 5. It can be shown that the average cell input and output currents are given by
I,

"1

d'-i"m+
r.
R

I D
il(0

;(;r
-

4
- _ _ _ _ _ _ - - - - - - <-i l-> - - - - - DTS Ts

(a)

k,;.
- - - - 595 - - - - -

------- -----DTs

2) I

Re
izu2= - = P
zj

( 1 1)

(D+4?)Ts Ts (b) Fig. 5 . Discontinuous conduction mode buck-boost converter. (a) Schernatic. (b) Input and output current waveforms.

Re

(12)

where

R,

2L/D2Ts.

(13)

L is the inductance, D is the switch duty cycle, and T, is the switching period. An equivalent circuit utilizing the LFR is shown in Fig. 6. The output source is neither constant voltage nor constant current but rather supplies constant power P according to (14). This model is valid both for dc and for large ac variations, provided that the converter is operated correctly in discontinuous conduction mode. Fig. 6 predicts that DCM buck-boost (and flyback) converters, operated at constant duty cycle in a rectifier application, should produce no ac line harmonics other than switching harmonics (which can be reduced to low value by other means). The converter input appears as a linear resistive load to the ac system. Hence, if the input voltage is
u 1 = Vpk lsin (ut)/

I\

U
V?

Fig. 6 . An averaged equivalent circuit model of the DCM buck-boost converter. The converter inherently behaves as a loss-free resistor.

If the output capacitor is large so that v2 has negligible ripple, then the equilibrium load resistor current is equal to the average value of iz:

(14) Elimination of R , using (13) yields

then the input current is

and the instantaneous power is

P
=

u I i l = uzi2 = -sin

v2
R,

( u t ) .

The output current is

iz

212

R , 112

sin', (ut).

where K = 2L/RT,. Hence, the output voltage can be regulated as usual by simple control of D , provided that (16) D does not change so fast that harmonics are introduced into the input ac line current. Another converter that naturally behaves as a loss-free resistor is the Cuk converter (Fig. 7(a)) whose internal ( 1 7 ) capacitor voltage state is operated in the discontinuous conduction mode [12].It can be shown that the average

SINGER AND ERICKSON: CANONICAL MODELING OF POWER-PROCESSING CIRCUITS

r -------I

41

Ti

(b) Fig. 8 . The discontinuous conduction mode buck (a) and boost (b) converters can also be modeled using the loss-free resistor POPI network.
I

f'l

. '
(b)

Fig. 7 . The C u k converter, operated in discontinuous capacitor voltage mode (a) Circuit schematic. (b) Averaged equivalent circuit model, based on the loss-free resistor.

VI. THE CONSTANT POWER NETWORK An additional two-port POPI device that arises naturally in dc-dc converters is the constant power network (CPN). The input port of this device behaves as a power sink, while the output port is a source of an equal power:

v,il
terminal voltages of the switching cell are given by

(22) (23)

v2i2 = -P.
(20) (21)

v1 = i l R ,
i2v2 = i:Re = P
where

The amount of power transferred, P , is dependent only on a control input. An interesting feature of this network is that this power is dependent on neither the input source characteristics nor the output load. The buck-boost converter operated in current-programmed discontinuous conduction mode (Fig. 9) is an example of a constant power network. During each switching period, an amount of energy W, given by

The switching cell therefore also functions as a loss-free resistor, and a valid equivalent circuit is as shown in Fig.
7@).

w, = ;Li$

(24)

Thus, the loss-free resistor is a useful form of POPI two-port network. It correctly models the natural averaged behavior of a number of well-known switching converters. In addition, it is a natural way to model the firstorder properties of any converter that is intended to operate as an LFR. A . Other LFR-Derived POPI Models POPI models, based on the loss-free resistor network, can be derived for DCM buck and boost converters; see Fig. 8. In both cases, power source P supplies the power consumed by resistor Re. Note that the input and output ports are no longer decoupled as in the buck-boost case; hence, the input ports do not behave as simple linear resistors but rather as nonlinear ones. The DCM boost converter has proposed for use in highpower factor rectifier applications in [13]. It was shown that the high-power factor and low, but nonzero, line current harmonics would result if the converter is operated at constant duty cycle. Systems such as this, which contain harmonics, can also be modeled using LFR-based equivalent circuits as in Fig. 8.

is transferred from the source, through the inductor, to the output. The power transferred is equal to the energy WL multiplied by the switching frequency f,, i.e.,

=1 2 L ip2 k fS *

(25)

Here, the peak inductor current ipk is determined by the current programming controller. Because (25) is a function of neither the input nor the output voltages and currents, this converter operates as a constant power network. The average cell input and output currents must, therefore, satisfy

ilvl = P
i2v2 = - P .

(26)
(27)

To illustrate the constant power behavior of this converter, consider the effect of doubling v l on the average value of il . This doubles the slope of the inductor current waveform, and since the value of ipk (determined by the current controller) is unchanged, the average value of il is halved. The product of v 1 and i l remains constant. Equivalent circuit models for the buck-boost, buck, and boost converters are given in Fig. 10.

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IEFE TRANSACTIONS ON POWER FLFCTRONICS. VOI

7 NO

I . JANUARY I Y Y ?

buck

L i
&
clock mparator control input

control

P=;Lip$fs

1 - 1

buck- boost

(b)

P.+LIPkZfS

Fig. 9. The current-programmed discontinuous conduction mode buckboost converter. (a) Schematic. (b) Input and output current waveforms.

Fig. I O . Averaged equivalent circuit models lor the current-programmed dircontinuous conduction mode buck, boost. and buck-boost converters. The buck-boost inherently behaves as a constant power network.

VII. CONCLUSIONS The generalized POPI network is an effective way to model the first-order power conversion properties of switching converters. A special case of POPI networksthe ideal transformer-is well known as a suitable means for modeling most continuous conduction mode PWM dc-dc converters. However, many other types of converters do not possess transformer properties and naturally process power in other ways. Examples discussed here include a k = 2 discontinuous conduction mode (DCM) series resonant converter, which operates as a gyrator, a PWM-DCM buck-boost converter, which operates as a loss-free resistor, and a current-programmed DCM buck-boost converter, which operates as a constant power network. Furthermore, in many applications, a power conversion characteristic other than that of the transformer is needed. The insight gained by use of these POPI models may inspire new and simpler system realizations. For example, understanding that some types of converters operate naturally as loss-free resistors can lead one to the possibility of constructing a simpler unity power factor ac-dc con-

verter. Another example is the use of the gyrator to interconnect stiff voltage sources. It is possible to obtain these other properties by addition of (possibly nonlinear) feedback to a converter with transformer characteristics. Nonetheless, use of a topology that naturally processes power in the desired fashion may lead to a simpler solution. Regardless of the converter realization, a proper choice of POPI network model can lead to a better understanding of the system power processing mechanisms, and to development of more effective solutions to meet power processing requirements. REFERENCES
[ I ] R . D. Middlebrook and S.Cuk. " A gencral unified approach to modelling switching-converter power stages." / E E Power Elarrronics Spccirr/isr.\ Conf:. 1976 Record, pp. 18-34. June 1976. 121 S . Singer, "Gyrators application in power processing circuits." l E E E Trun.5. Indusrriul E l m r o n . . vol. IE-34. no. 3. pp. 313-318. August 1987. [ 3 ] S . Singer. "Loss free gyrator realization," / E Trmns. Circuits S w . . vol. CAS-35. no. I . pp. 26-34, Jan. 1988. [4] E. S . Kuh and R . A. Rohner. 7hror\ofLirirrrrAcrir'r Nrrnorks. New York: Holden Day, 1967, pp. 96-103.

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43

S. Singer, Realization of loss-free resistive elements, IEEE Trans. Circuits Syst., vol. 37, no. I , pp. 54-60, Jan 1990. S. Singer, Power conversion and control with zero ac current harmonics by means of a time-variable transformer, Proc. Inst. Elec. Eng., vol. 131, pt. G , no. 4, pp. 147-150, Aug. 1984. R. W Newcomb, The semistate description of nonlinear timevariable circuits, IEEE Trans. Circuits Syst., vol. CAS-28, no. 2, pp. 62-71, Feb 1981. D. M Divan, Non-dissipative switching networks for high power applications, Electron. Lett , vol. 20, no. I , pp 277-279, March 29, 1984. V. Vorperian and S Cuk, A complete dc analysis of the series resonant converter, IEEE Power Electronics Specialists Con&, 1982 Record, pp. 85-100, June 1982. A F Witulski and R. W. Erickson, Steady-state analysis of the series resonant converter, IEEE Trans. Aerospace Electronic Syst., vol AES-21, no 6, pp. 791-799, Nov. 1985. S . Singer, The application of loss-free resistors in power processing circuits, IEEE Power Electronics Specialists Conf., 1989 Reco r d , , ~843-846, ~ June 1989. S . Cuk, General topological properties of switching structures, IEEE Power Electronics Specialists Conf., 1979 Record, pp 109130, June 1979. S. Freeland, I. A unified analysis of converters with resonant switches, 11. Input current shaping for single phase ac-dc phase converters, Ph.D. dissertation, California Institute of Technology, Pasadena, CA, October 1987.

Sigmunt Singer received the B.Sc. and D.Sc. degrees from the Technion, Haifa, Israel, in 1967 and 1973, respectively. In 1978 he joined the Faculty of Engineering, Tel-Aviv University. His fields of research are power electronics, power processing, switching networks, time-variable coupling networks, energy conversion, photovoltaic systems, modeling, and simulation of circuits operated at low losses conditions. His paper Realization of loss-free resistive elements has been granted the 1990 Darlington Award by the CAS Transactions Best Paper Award Committee.

Robert W. Erickson (SBILM83) was born in Santa Monica, CA, on August 3 , 1956. He received the B.S., M.S., and Ph.D. degrees from the California Institute of Technology, Pasadena, CA, in 1978, 1980, and 1983, respectively. In 1982, he joined the Department of Electrical and Computer Engineering at the University of Colorado, Boulder, where he is currently an Associate Professor. His research interests inculde resonant power conversion, converter modeling, high-frequency power components, and low har-

monic rectification.