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Abstract – In case of electro-technical body tests, it is necessary II. QUICK OVERVIEW OF A CURRENT REGULATOR
to use voltage-controlled converters with large bandwidth and
fast dynamics. Recently, a novel pulse width modulation has Before an investigation of the new version of the voltage
been investigated. It has permitted to design regulators in order regulator, it is useful to present a current regulator whose the
to reach an accurate tracking of current or voltage references.
operating mode depends on an oscillatory mode [7]. Indeed,
Here, the first version of the voltage controller is improved in
order to target these new specifications. Indeed, it is necessary it is easier to understand how this current regulator operates,
to get a bandwidth of a couple of kiloHertz, with a phase shift because of its simplest structure. Thus, the next figure
lower than ten degrees. This goal is reached. illustrates a non-linear model of a power converter. The
output current is under control of this regulator and is
measured by means of a sensor whose transfer function is
I. INTRODUCTION defined by RT and is assumed to be real.
The power converters can be used for supplying electrical iref (t) + ε(t) u(t) L R il (t)
RT
machines, which require high performances. They also can −
2839
with a couple of degrees of phase shift and a couple of dB of Kv and the current sensor gains RT, then it is possible to
attenuation. The next scheme illustrates the output voltage deduce the following formulas, where ωnp is greater than
feedback control where three loops are involved in. Here, the ω0LC and lower than ω0:
filter, which makes the system enter in the voluntary
oscillation mode, is noted F2. It is the current regulator one. K u = 1
Thereby, the frequency switching depends on the inner (12)
current loop where the F2’s filter is implemented: K = Kv
i
RT C ω np
1 (8)
F2 ( s) =
2
s 2ξ Thereafter, if the F2’s filter is removed in order to make an
+ s +1
ω0 ω0 easier investigation of the system at frequency values close to
is the switching frequency, then the open loop transfer function
F1 (s) is given by:
uref + ε u + 1
il + −
1 uc
Kv Ls Cs
− −
u fb
≈ K (s I − A ) B u
−1
uf b Relay H ( s) = (13)
u is = 0
Ki RT
filter
where K = [RT K i K v K u ].
sensor
− + F2 (s)
Ki RT
+
sensor
Ku Kv Then, assuming that there is not high frequency component
sensor
in the measured load current, assuming that at high frequency
values the capacitor acts as a short circuit, and assuming that
Fig.3. Improved voltage regulator scheme the higher frequency components (due to the self oscillation)
This previous figure shows that the output converter go through the inner loop, the formula of H(jω) becomes:
current, which goes through the load, is taken into account
too. Now, the state variables uc and il depicts the voltage K Bu
capacitor and the coil current. The next formula gives the H ( jω ) ω → ∞ ≈ (14)
jω
relation between them, where the load current, noted is, is
assumed to be a disturbance:
So, when removing the filter F2 and considering a
x = A x + Bu u + Bs is (9) frequency close or equal to the natural frequency of this
filter, as the K by Bu product is a positive constant, the phase
with: shift of (14) tends to –90 degrees. Now, by locating the filter
i 0 −1 1 0 F2 at the feedback path end, it is possible to get a phase shift
x= l A=1 L Bu = L Bs = −1 (10) close to –180 degrees at such a frequency. Then, taking into
u c C 0
0 C
account the voltage error detector phase shift, the system
oscillates. Without load, the oscillation frequency is given
Then, by inspecting the previous figure and removing the by:
filter F2, it can be deduced that it looks as a sliding mode
ωosc = ω0 (ω0 − ωnp ) (15)
command scheme. As the signals, related to the state
variables, go to the error detector through simple gains, the
sliding surface is a linear combination of them. Because the The Fig.4 illustrates the magnitude and phase of the open
system to be controlled is a second order one and as Bhüler loop transfer function H(jω), when using the parameter
described [8], a placement of the poles permits to get a first values given in the table 1 and using three values of ωnp. The
order close loop transfer function of the whole system. It is F2‘s natural frequency is assumed to be equal to 20kHz. The
given by: oscillation frequency fosc is very close to F2‘s natural
uc 1 (11) frequency. When increasing the value of ω np , the value of
T (s) = =
u ref s fosc decreases a little bit. The Fig.5 shows this modification of
+ 1 the oscillation frequency. It is close to the F2‘s natural
ω
np frequency when ω np /ω0LC is chosen lower than 2.2. Using
the expression (15), another formula can be deduced for
Now, in order to get a unitary ratio between the converter easily calculate the filter F2‘s natural frequency:
output voltage and the input reference, the parameter Ku
equals unity. This simplifies the followings. Thus, applying
ω np + 2ωosc
the works of Bhüler [8], targeting the previous close loop ω0 ≈ (16)
transfer function, taking into account the voltage sensor gain 2
2840
This formula permits to get a good approximated value of As the transfer function H(s) is a low-pass filter and the
the wanted oscillation frequency. components, whose frequencies are greater than ωosc, are
strongly attenuated, then the equation (17) can be simplified.
Just the first term (n=1) can be kept. Using the oscillation
100
ωnp=0.5ω0lc frequency ωosc given by the equation (15) and assuming that
M agnitude (dB )
ωnp=1.5ω0lc
50
ωnp=3.0ω0lc
the smoothing filter frequency is lower than the natural
0 frequency of the filter F2 ( ω0 LC << ω0 ), it comes:
-50
1 ξ ω np (ω 0 − ω np )
-100 2 3 4 5
G eq ≈ ≈ (18)
− 2ℜe{H ( jω osc )}
10 10 10 10
Frequency (rad/s) ω 02LC
90
ωnp=0.5ω0lc
0 ωnp=1.5ω0lc Now, concerning the stability of the close loop system, the
Phas e (deg)
-90
ωnp=3.0ω0lc
BLACK plot of Geq.H(jω) shows that it is adequate when
ω np / ω 0 LC varies between 1 and 4. Even if the phase
-180
margins are not so great, there is no unwanted instability
-270 2
10 10
3
10
4
10
5
when taking into account these values.
Frequency (rad/s)
5
Fig.4. BODE plot of H(jω)
0
ω =4ω
np 0LC
Gain (dB)
Fosc = 12167 Hz
ωnp=3ω0LC
F = 14528 Hz
osc
−5 ωnp=2ω0LC
Fosc = 16554 Hz
ωnp=ω0LC
F = 18361 Hz
osc
−10
−200 −195 −190 −185 −180 −175 −170 −165 −160
Fig.5. Normalised oscillation frequency versus ωnp/ωOLC ratio. Phase (deg)
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IV. SIMULATED AND EXPERIMENTAL RESULTS Now, the converter is unloaded and feeds a 800Hz wave
whose amplitude equals 70V. Thus, taking into account the
In order to confirm the performances of this new voltage sliding model and the equation (11), if ωnp equals 2.75 times
regulator, an electronics board has been designed. The ωOLC, then the theoretical phase shift equals -7.41 degrees.
system and board parameters are given in table 1. On the first The simulated results illustrate (not shown here) a phase
hand, the system is checked when the voltage-regulated shift, which equals –7.1 degrees, thereby a value very close
converter is loaded or not. This permits to verify the to the sliding mode one. The results also illustrates (not
oscillation frequency and the dynamic behaviour of the shown here) an attenuation of 7% of the gain value, which
system in case of large transients. In the other hand, a matches the static gain of equation (19). As the error is
rectifier load is connected to the output of the converter. This constant in the system bandwidth, it could be possible to
makes it possible to do other tests of the power source. compensate it by adding a setting gain.
50 100
uref 0dB
40 80
uc
30 60
Reference and output voltage in [ V ]
is -20dB
20 40
Load Current in [ A ]
10 20
-40dB
0 0
-10 -20
-60dB
-20 -40
-30 -60
-40 -80
-50 -100
0 0.5 1 1.5 2 2.5 3 0Hz 5kHz 10kHz 15kHz 20kHz 25kHz
Time in [ms]
Fig.7. Unloaded and loaded (R=1Ω) simulated result when tracking a 800Hz Fig.9. Experimental spectrum when tracking a 800Hz 70V reference
40V reference
B. Rectifier Load
uref uc
10V Now, a non-linear load is connected to the power converter.
20A is This load involves a rectifier loaded by a smoothing
Waveform
capacitor Cr (whose value equals 1000µF) and a resistor Rr
12:04:37 06/07/2006
_________________________________
Y-scale 200.00 mV/div
(whose value equals 5.4Ω). The DC bus voltage is tuned to
Y-offset 0.0000 mV 100V, the reference amplitude and frequency are respectively
_________________________________ tuned to 40V and 200Hz. It can be viewed on the following
X-scale
X-offset
300.00 us/div
0.0000 s
figure, that the output voltage well tracks the reference, even
if the input rectifier current varies and reaches 20A. As, the
experimental frequency is 200Hz, it is easier to track a 50Hz
X-size 512
_________________________________
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uref(t) TABLE 1
SYSTEM AND LOADS PARAMETERS
uc(t) 20
10 Parameter Description Value
il(t)
L Filter inductance 200µH
Waveform 17:05:21 09/03/2006
_________________________________ C Filter capacitance 25µF
Y-scale 5.0000 V/div
0.000 mV
ξ Damping factor of F2(s) 0.707
Y-offset
_________________________________
ω0 Natural pulsation of F2(s) 2π20000 rad/s
X-scale 1.00 ms/div
Kv Voltage sensor 1/100
RT Current sensor 0.27V/A
Ki Feedback current gain 1.036
_________________________________
(fnp=6150Hz)
Ku Feedback voltage gain 1.00
Maximum 5.6273 V
Minimum -5.3281 V
In short, in order to test the dynamic and the stability of the [1] V.I. Utkin, J. Guldner and J. Shi, Sliding Mode Control
regulator, a square wave, whose amplitude and frequency in Electro-mechanical Systems, CRC Press, 1999.
respectively equal 20V and 400Hz, is used. The DC bus [2] S. Buso, S. Fasolo, L. Malesani and P. Mattavelli, "A
voltage is tuned to 60V. Dead-Beat Adaptive Hysteresis Current Control," IEEE
Trans. Industrial Applications, vol. 36, no. 4, July 2000,
pp. 1174-1180.
[3] A.B. Rey, S. de Pablo, J.M. Ruiz and J.A. Ravelo, "A
novel current control strategy for PWM inverters using
the sliding mode techniques," in Proceedings of the
5V
2000 IEEE International Power Electronics Congress,
Waveform 10:04:51 13/03/2006
_________________________________
pp. 276-279.
Y-scale 500.00 mV/div [4] J.C. Le Claire, "A new resonant voltage controller for
Y-offset 0.000 mV
fast AC voltage regulation of a single phase DC/AC
_________________________________ power converter," in Proceedings of the 2002 Power
X-scale 500.00 us/div
Conversion Conference, Osaka, Japan, vol.3, pp. 1067-
1072.
[5] N. Ginot, J.C. Le Claire, L. Loron, "Active loads for
Hardware in the loop emulation of Electro-technical
_________________________________
Maximum 2.0660 V
2843