Power Electronics DC-DC CONVERTERS

DC-DC CONVERTERS
Applications:

Input DC
DC Motors Control voltage

Switch Mode Power Supplies DC

Motor
Battery Chargers

Control and regulation

battery

AC mains Non controlled Capacitive DC-DC Load

rectifier Filter Converter
DC DC DC
unregulated unregulated regulated
Control signal

IST-DEEC 2017 Prof Beatriz Vieira Borges 1

Power Electronics DC-DC CONVERTERS

PWM Pulse Width Modulation Control

vO

VI +

_ +
R VO VI VO t on vcontrol
_ D
ton toff t
TS Vst
TS

VO (desired)
+ Ve control
Switch control signal
VO (actual) _ COMPARATOR

Carrier (vst)

vSt
Ve control

sinal de controlo do
ton toff ON interruptor
ON: Ve> Vst
TS OFF
OFF: Ve< Vst

IST-DEEC 2017 Prof Beatriz Vieira Borges 2

Power Electronics DC-DC CONVERTERS

One quadrant step down converter with resistive load

vO

VI
+ iO
+ +
_ VO ton VO
Vd VI
_
R
_
VO D
ton toff
TS VI
t
TS

Average values of load voltage and current

1 TS 1 ton TS
t on VO
VO vO (t ) dt v I dt 0dt VI DVI IO
TS 0 TS 0 t on tS R
RMS values of load voltage and current
1 1 1
1 TS 2 2 1 t on 2 2V I2 t 2
VOrms vO (t ) dt VI dt t on VI on VI D
TS 0
TS 0
TS TS
V
I O Orms
R
IST-DEEC 2017 Prof Beatriz Vieira Borges 3
 Power Electronics DC-DC CONVERTERS

One quadrant step down converter with inductive load RL

vL
VI
+
+ - iO diO
VI RiO L
+ L + diO dt
_
Vd
iL VO vO RiO L
R dt
_ _ diO
0 RiO L
dt
Mode 1
R
vL t
S on D off + VI + -
iO iOlivre Ae L R
t VI
L
0 < t < DT - + L +
VI
iO1 Ae

vO VI
Vd
R VO
iOforado R
_ _
R

Mode 2
vL iO R
+ - t ton R
S off D on + L + iOlivre Be L
L
t ton
DT < t < T Vd
R VO iO 2 Be
_ _ iOforado 0
vO 0

IST-DEEC 2017 Prof Beatriz Vieira Borges 4

Power Electronics DC-DC CONVERTERS

vO
Steady State integration constants calculation:
R R
t VI t ton
L
iO1 Ae iO 2 Be L VI
VO
R
ton toff t
iO T
iO1(0)=iO2(T) iO1(ton)=iO2(ton)

R
ton VI Transient operation
iO1 ton Ae L
Be0 iO 2 ton iO1(ton)
R iO
R
V T ton
iO1(0)
iO1 0 Ae 0 I Be L iO 2 T IO iO2(T)
R

Resolvendo o sistema de equaes determina-se A e B Steady State operation

R R
T t on ton
L L
VI 1 e VI 1 e
A R B R
R T R T
1 e L 1 e L
IST-DEEC 2017 Prof Beatriz Vieira Borges 5
Power Electronics DC-DC CONVERTERS

Convertion ratio t V vO T
D on O
T VI
VI
VO
Load voltage average value
to toff t
ton iO n
VO VI DVI
T IO
RMS value of load voltage t
iS
ton iI
VOrms VI VI D
TS t
Load current average value iD
VO
IO t
R R
t V
L
RMS value of load current iO1 Ae
1 1 R
R
1 T 2 1 ton 2 T
2
L
t ton
2 2
iO (t ) dt iO1dt iO 2 dt iO 2 Be
I Oef
T

0
T 0 t on

IST-DEEC 2017 Prof Beatriz Vieira Borges 6

Power Electronics DC-DC CONVERTERS

One quadrant step down converter with inductive load RLE

vL
VI
+
+ - iO diO
L VI RiO L E
_
+
iL
+ diO dt
Vd
R
VO vO RiO L E
_ _ dt diO
E + 0 RiO L E
- dt

Modo 1 R
vL t
+ VI iO iOtrans Ae L R
S on D off + - t
L
VI E
- + L + iO1 Ae
0 < t < DT Vd
R VO VI E R
_ + _ iOforced
vO VI E R
-
Modo 2
vL iO R
t ton
+ - L
S off D on + iOtrans Be R
L +
L
t ton E
DT < t < T Vd
_
R VO
E iO 2 Be
vO 0 E
+ _ iOforced R
- R

IST-DEEC 2017 Prof Beatriz Vieira Borges 7

Power Electronics DC-DC CONVERTERS

Steady State Conditions : vO NO LACUNAR

R
R
t VI E
L
t ton E
iO1 Ae L
iO 2 Be VI
R R VO
ton toff t
iO T
iO1(0)=iO2(T) iO1(ton)=iO2(ton)
Transient
R
ton VI E E
iO1 ton Ae L
Be0 iO 2 ton iO1(ton) t
R R iO
R
VI E T ton E
iO1 0 Ae 0
Be L iO 2 T iO1(0) IO iO2(T)
R R Steady state
Solving the above equation system, SS constants A and B are determined t

R R
T t on t on
L
VI E 1 e L VI E 1 e
A R
B R
R T R T
1 e L 1 e L
IST-DEEC 2017 Prof Beatriz Vieira Borges 8
Power Electronics DC-DC CONVERTERS

Convertion ratio ton VO T

D vO
T VI
VI
Load voltage average value (CCM) VO
to toff iM t
t iO
VO on VI DVI n
T
IO im CCM
Load voltage RMS value (DCM) t
vO
ton E
VOrms VI VI D
TS DCM t
iO
Load current average
VO E
IO
R R
t VI E
L
iO1 Ae
Load current RMS value
1 (DCM) 1 R
R
1 2 1 ton 2 2 t t on E
T
2
T
2 iO 2 Be L
I Oef iO (t ) dt iO1dt iO 2 dt R
T 0
T 0 t on

IST-DEEC 2017 Prof Beatriz Vieira Borges 9

Power Electronics DC-DC CONVERTERS

The ratio VO/VI depends on the current null

instant, i.e., on the load valiation. DCC

Load voltage average value (CCM)

vO
1 T 1 ton T E
VO vO (t )dt VI dt Edt
T 0 T 0 t1 t1 t
Load voltage RMS value (DCM) iM
1 1
iO
1 T 1 ton 2
2
T 2 IO
VO 2 2
vO (t ) dt VI dt E dt t1
T
0
T 0 t1 im ton toff t

Load current average

T
VO E
IO
R R
t VI E
L
Load current RMS value (DCM) iO1 Ae
1 1
R
R
1 T 2 1 ton 2 T 2 t t on E
2 2
iO (t ) dt iO1dt iO 2 dt iO 2 Be L
I Oef
T
0
T 0 t on R

IST-DEEC 2017 Prof Beatriz Vieira Borges 10

Power Electronics DC-DC CONVERTERS

R
iM= maximmum value of load current
t on
L
VI E
iM Ae
R
R
im= = minimmum value of load current
L
t T E
im iM e
R
Considering the values of A and B constants, and being iM the value of current iO1 in t=ton and the
value of im the value current iO2 in t=T, the maximmum and minimmum values of current are given by:
R R
ton ton
L
V E 1 e L VI E 1 e
IM I Im R
R R
T R T
1 e L 1 e L

R
ton
L
VI E 1 e
IL(t) is equal to zero when Im is zero 0 R
im=0 R T
1 e L
Last relation establishes the boundery between the continuous and descontinuous operation modes,
that permit to obtainnmthe characteristic curves of the operation of the one quadrant step down
converter with RLE.

IST-DEEC 2017 Prof Beatriz Vieira Borges 11

Power Electronics DC-DC CONVERTERS

Characteristic curves for the operation of one quadrant step down converter, with RLE load:

R
ton
L
V E 1 e
0 R
R L
T
1 e

E/VI
s=2
s=T/t A
s=T/t=TR/L B

A DCM

B CCM
ton/T
IST-DEEC 2017 Prof Beatriz Vieira Borges 12
Power Electronics DC-DC CONVERTERS

Two quadrant step down converter with RLE load

S1 D2 vO T
+ vL
VI + - iO R
+ _
_ + L + VI
E VO
D1 S2 VO
_ _ to toff iM t
iO n
Operation on the 1st quadrant. Operation
of S1 and D1 start and speed control of a IO im S 1 S1
DC motor (positive current and voltage )
S1 D1 D1 t
S1 D2
+ vL
VI + - iO +
R
_ vO
_ + L +
E
D1 S2 VO
_ _ t
Operation on the 2nd quadrant. Operation t
of S2 and D2: active braking of a DC IO
S2 S2
motor (negative current and positive
voltage) recovering braking energy and D2 D2 S2 D2
sending it to the input source.
IST-DEEC 2017 Prof Beatriz Vieira Borges 13
 Power Electronics DC-DC CONVERTERS

S1 D2
+ vL
VI + - iO +
R
_
Operation the 1st _ + L + Operation the 2nd
E
quadrant IO>0 D1 S2 VO quadrant IO<0
_ _
vO T T
vO
VI
VI
VO VO
to toff t ton toff t
iO n iO
IO t
IO
S1 D1 t
S2 D2
iI
t
iI S2 D2

t
iS1 iS2
t t
iD2 iD2
t t
IST-DEEC 2017 Prof Beatriz Vieira Borges 14
Power Electronics DC-DC CONVERTERS

S1 D2
+ vL
VI + - iO +
R
_
_ + L +
E
D1 S2 VO
_ _

1 T VI ton
Input power PI PI VI iI (t ) dt iI (t )dt VI I I
T 0 T 0
PI >0
Operation on the 1st
quadrant II>0 IM>0 e Im>0 ou IM>0 e Im<0
com
Power supply VI delivers Speed control and start of a DC Motor
energy

PI <0
Operation on the 2nd
quadrant II<0 com IM>0 e Im<0 ou IM<0 e Im<0
Power supply VI receives
energy from the load DC Motor regenerative braking

IST-DEEC 2017 Prof Beatriz Vieira Borges 15

Power Electronics DC-DC CONVERTERS

Four quadrant step down converter with RLE load

S1 D1 S4 D4 DCM
+ La Ra Ea SS model of a DC
VI motor
_ ia
+ Va -
S2 D2 S3 D3
Speed ~ (Ea)
Direct Breaking Forward direcction

ia Ra ia Ra
+ +
VI VI
The operation in the four quadrants + Ea + Ea
permits speed control of a DC motor: _ _ _ _
Start
Speed Regulation Torque ~ (ia)
ia
Regenerative breaking Ra ia Ra
_ _
Inversion rotating direction VI
_ VI
Ea _
+ + Ea
+ +
Reverse Direcction Reverse Breaking

IST-DEEC 2017 Prof Beatriz Vieira Borges 16

Power Electronics DC-DC CONVERTERS

Four quadrant step down converter with RLE load

I S4 D
vO
S1 D1L 4 VI
+ R E
VI
_ iO VO
+ VO -
S2 D2 S3
t+ t-
D3 t
-VI
T
II S4
+
S1 D1
L R E
D4 iO S2 e S4 IO
VI
_ iO S1 e S3 D2
+ VO - D4 t
S2 D2 S3 D3 D1 D1
D3
iS1S3 D3
III S1 D1 S4 D4
+ L R E
VI
_ iO
t
+ VO - IV II
S2 D2 S3
iI I
D3
III t
IV S1 D1L
S4 D4 IV
+ R E
VI
_ iO
iD2 D4
+ VO -
S2 D2 S3 t
D3

IST-DEEC 2017 Prof Beatriz Vieira Borges 17

Power Electronics DC-DC CONVERTERS

Operation on the 1st Operation on the 3rd

quadrant PO>0 vO quadrant PO>0
vO
VI VI

VO T
t+ t- t+ t- VO
T t t
-VI -VI

iO S2 e S4 IO iO
S1 e S3 D2
t IO t
D4

D1 D1 S1 D2 D1
S2 e S4
iS1 D1
D3 D3 D3 S3 D4 D3
iS1
S3
S3
t I II t
iI IV
I
II iI IV III IV
III t t
IV
iD2 iD2
D4 D4
t t
IST-DEEC 2017 Prof Beatriz Vieira Borges 18
Power Electronics DC-DC CONVERTERS

Load voltage average value

1 TS 1 t TS
t
VO vO (t ) dt VI dt VI dt 2 1VI 2 D 1VI
TS 0 TS 0 t T

Load voltage RMS value =VI

Load current average

VO E
IO
R
Load current RMS value (DCM) R
t
L
VI E
1 1 iO1 Ae

1 2 1 t 2 2 R
T T R
2 2
iO (t ) dt iO1dt iO 2 dt t t VI E
I Oef
T
0
T 0 t
iO 2 Be L

R

IST-DEEC 2017 Prof Beatriz Vieira Borges 19

Power Electronics DC-DC CONVERTERS

When the duty cycle is 50% the step down DC-DC converter with four
quadrants operates as an inverter (DC-ACconverter)
vO(1h)
S1 S3
vO
+ iO VI
vI -
-
S2
+
vO T/2 T t
-VI
S4
iO iO(1h)
S1S4 D2D3

D1D4 S2S3 t

The average values of voltage and current are both null, there is no DC component

vO a
n 1
n cos n t bn sin n t
n 1 Z n R nL 2 2

1 n L

an b
iO cos n t n n sin n t n with n tan
Zn n 1 Z n
n 1
R
IST-DEEC 2017 Prof Beatriz Vieira Borges 20
Power Electronics DC-DC CONVERTERS

BUCK converter (step down )

vO
VI + iO ton VO
+ + VI VO
D
_
Vd vO
TS VI
R
_ _ ton toff t
TS
LC
vO VO an cos nt bn sin nt
filter n 1 n 1

vL Espectre of vD VfS
V+
I
iO
+ - 2VfS
_ + iL L + 3VfS
Vd R VO
_ C _ fS 2fS 3fS f

Characterstic of LC filter: -40dB

fC<<<<fS to eliminate the switching -80dB
noise in output voltage waveform
fC 10fC 100fC fS

IST-DEEC 2017 Prof Beatriz Vieira Borges 21

Power Electronics DC-DC CONVERTERS

CONTINUOS CONDUCTION MODE (CCM) iL(t)>0

Modo I S (on) D (off) Modo S (off) D (on)

iL iL iO vL
iO VI-VO
+ + + L + A
s L
VO VO
vI C R vI D C TS B
_ _ _ R_ -VO
iL
0 < t < DT DT < t < T
v L V I VO IL=IO
v L VO
i L I L1 V I VO t / L i L I L 2 VO t t on / L ton toff

In steady state is : VL (average)= 0 A=B

TS t on TS
0 v L (t )dt 0 v L dt t v L dt 0
on t on VO
D
VI VO ton VO TS ton TS VI

IST-DEEC 2017 Prof Beatriz Vieira Borges 22

Power Electronics DC-DC CONVERTERS

Input Power = Output Power

Ideal converter Power Losses=0 Pp=0
PI=PO VIII=VOIO VO/VI=II/IO=D

Boundery between continuos and descontinuos conduction modes:

vL
VI-VO VI=const.
A ILB=IOB
TS
B
-VO

iLp
iL
ILB=IOB 0.5 1 D
ton toff
At the border the average voltage of inductor current is iL(t)=IL= 1/T.1/2.iLP.T iLP=(VI-VO)/L.ton
1 t DT
I LB i LP on V I VO VI VO I OB
2 2L 2L If the average value of iL(t)
DT becomes lower then ILB the
I LB 1 DVI I OB operation becomes descontinuos
2L

IST-DEEC 2017 Prof Beatriz Vieira Borges 23

Power Electronics DC-DC CONVERTERS
Average inductor current variation at the border, with the duty cycle D
VI=const.
DT
I LB 1 DVI I OB I LB 4 I LB max D(1 D) ILB=IOB
2L
T VI
I LB max
T VI 8L
D=0,5 I LB max
8L

Operation on DCM 0.5 1 D

Variation valor iL average in function of D

Calculation of VO/VI: vL VI-VO

VO D A
VI VO DTS VO 1TS 0 VI

D 1 TS B
iLP=VO/L.D1 TS com D+D1<1 -VO

D 1 V T iLp ILB=IOB
IO i LP O S D 1 1 iL
2 2L
VI TS
IO D1 4 I LB max D1 DTS 1TS 2TS
2L VO D2

IO VI D 2 I O
1 LOAD Dependent
4 I LB max D 4 I LB max

IST-DEEC 2017 Prof Beatriz Vieira Borges 24

Power Electronics DC-DC CONVERTERS

Caracterstic functions: VO/VI (IO/ILB max)

CONSTANT INPUT VOLTAGE

factor de ciclo D como parmetro

CONSTANT OUTPUT VOLTAGE

IST-DEEC 2017 Prof Beatriz Vieira Borges 25

Power Electronics DC-DC CONVERTERS

output voltages ripple calculation:

vL
VI VO VI-VO
I L DT
L t
-VO
Q 1 1 I L TS
VO iO
C C2 2 2 Q IL/2

IOIL
2
VO TS 2 1 D 2 f
1 D C t
VO 8 LC 2 fS T/2
vO
VO
Expression valid for fC<<<fS
Vo/VO<1% VO

1
Operating frequency f t
T
1
filter cuttof frequency fC
2 LC

IST-DEEC 2017 Prof Beatriz Vieira Borges 26

Power Electronics DC-DC CONVERTERS

BOOST CONVERTER (step up)

iL iO
VO 1

L VI 1 D
+
+ s VO
VI C R
_ _

Output voltage higher than input voltage

IST-DEEC 2017 Prof Beatriz Vieira Borges 27

Power Electronics DC-DC CONVERTERS

CONTINUOUS CONDUCTION MODE (CCM) iL(t)>0

Mode I S (on) D (off) Mode II S (off) D (on) vL

iL iL iO VI
iO
A
L + L +
+ + D
s VO R VO TS B
vI C R vI C
_ _ _ _ VI -VO
iL
IL =II
0 < t < DT DT < t < T
ton toff
v L VI v L VI VO
i L I L1 VI t / L i L I L 2 VI VO t t on / L

In steady state : VL (average value)= 0 A=B

T t on T
vL (t )dt VI dt VI VO dt 0
0 0 t on

VO T 1 IO
VI t on VI VO t off 0 II
1 D
VI toff 1 D

IST-DEEC 2017 Prof Beatriz Vieira Borges 28

Power Electronics DC-DC CONVERTERS

Input power and output power

In na ideal converter the Input and output powers are equal Pp=0
PI=PO VIII=VOIO VO/VI=II/IO=1/(1-D)
Boundery between continuous and descontinuous modes:
vL
At the boundery the average of iL(t)=ILB = 1/T.1/2.iLP.T VI
iLP=VI/L.ton A
T
B
1 t on VO TS
I LB i LP VI D1 D I IB
iL iLP
VI -VO
2 2L 2L
IL=ILB
iI=iL IO/II=1-D IOB=(1-D)IIB
ton toff
IOB=TSVO/(2L)D(1-D)2

ILBmax=TSVO/(8L)

IOBmax=2/27.TS.VO/(L)= 0.074TS.VO/L

If the average value of iL(t) becomes lower then ILB

the operation mode becames descontinuos.

IST-DEEC 2017 Prof Beatriz Vieira Borges 29

Power Electronics DC-DC CONVERTERS

Operation on decontinuous conduction mode

VI and D constants PO decreases IO decreases IL decreases

vL vL

VI VI
A A
TS t
TS B t B
VI -VO VI -VO
iL iLP iL iLP

IL=ILB IL<ILB
DTS
ton toff t 1TS 2TS t

VO 1 D
VL VI DTS VI VO 1TS 0
VI 1
as PO PI IO 1

I I 1 D

VI VI TS
as II DTS D 1 IO D 1
2L 2L

IST-DEEC 2017 Prof Beatriz Vieira Borges 30

Power Electronics DC-DC CONVERTERS

Characterstics at constant VO

1
4 VO VO IO 2
D 1 (D varies in function of VI to maintainVO constant)
27 V I V I I OB max

If VO is not controlled in such a way that at

least, the energy

Wm = 1/2.L.iLpico 2 = (VI.D.TS.)2/(2.L)

will be transferred from the input to the output

capacitor and be absorbed by the load, VO will
increase until the energetic balance is stablished.
(With low current loads, voltage VO may
increase dangerously)

IST-DEEC 2017 Prof Beatriz Vieira Borges 31

Power Electronics DC-DC CONVERTERS

parasitic elements effects in output

voltage

- Inductor losses
- Capacitor losses
- Transistor losses
- Diode losses

iD

output voltage ripple

(RC filter design)
DQ = Capacitor charge IO= constant
t
T
DT
Q I O DTS VO DTS (1-D)T
VO iC
C C R C
VO DTS T Q
D S
VO RC
IO Q T t

IST-DEEC 2017 Prof Beatriz Vieira Borges 32

Power Electronics DC-DC CONVERTERS

BUCK-BOOST CONVERTER (step-up and step-down)

iI iO
VO D

s + -
VI 1 D
+
C VO
vI iL
- R
_ L +

Output voltage higher or lower then the input voltage with

reverse polarity.

IST-DEEC 2017 Prof Beatriz Vieira Borges 33

Power Electronics DC-DC CONVERTERS

CONTINUOUS CONDUMODE (CCM) iL(t)>0

Mode I S (on) D (off) Mode II S (off) D (on) vL

iO iO VI
D A
+ s - + -
+ +
C VO C VO TS = B
vI iL R vI iL R
_ + _ + -VO
- L - L iL
IL
0 < t < DT
DT < t < T ton toff
v L VI
v L VO
i L I L1 VI t / L i L I L 2 VO t ton / L

In steady state: VL (average value )=0 A=B

TS ton T
vL (t )dt VI dt VO dt 0
0 0 t on
VO D

VI t on VO t off 0 VI 1 D

IST-DEEC 2017 Prof Beatriz Vieira Borges 34

Power Electronics DC-DC CONVERTERS

Input power and output power

In na ideal converter the Input and output powers are equal Pp=0
PI=PO VIII=VOIO VO/VI=II/IO=D/(1-D)

Boundery between continuos and descontinuos conduction modes

vL
1 t VI T VOT VI
I LB iLP on VI D (1 D ) A
2 2L 2L 2L
VOT D TS B
IO I L I I I OB (1 D ) I OB
2L (1 D ) -VO
iL iLP
VOT
I OB (1 D) 2
2L IL=ILB
ton toff
VOT
I LB max I LB I LB max (1 D)
2L

VOT
I OB max I OB I OB max (1 D) 2
2L

IST-DEEC 2017 Prof Beatriz Vieira Borges 35

Power Electronics DC-DC CONVERTERS

Descontinuous conduction mode

VI DT VO 1T 0
vL
VO D A VI

VI 1 T t
B
PI=PO
I O 1 -VO
iL iLP
II D
DI VI T IL=ILB
II O IL D ( D 1 ) DTS
1 2L 1TS 2TS t

I L I I IO
1 V I T VI T 2L
1 IO D ( D 1 ) I O 1 D 1 I O
IO IL D 1 2 L 2L VI TD
D 1

IST-DEEC 2017 Prof Beatriz Vieira Borges 36

Power Electronics DC-DC CONVERTERS

Duty cycle characteristic curves in function of the normalised output current for constant VO

1
VO IO 2
D
VI I OB max

IST-DEEC 2017 Prof Beatriz Vieira Borges 37

Power Electronics DC-DC CONVERTERS

Effects of parasitic elements in the output voltage

- Impact over the convertion ratio

- Control stability (zero on the HRP)
- Impossible to use very high duty ratios

output voltage ripple iD

(filter design)
DQ = Capacitor charge; IO= constant
T t
DT (1-D)T
iC
Q I O DT VO DT VO DT T
VO D
C C R C VO RC Q

IO Q T t

IST-DEEC 2017 Prof Beatriz Vieira Borges 38