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EE 410 Chapt 3 PDF
EE 410 Chapt 3 PDF
410/510: Electromechanical Systems
Chapter 3
• Chapter 3. Introduction to Power Electronics
• Modeling and Application of Op. Amps.
g pp f p p
• Power Amplifiers
• Power Converters
• Power Amp and Analog Controllers
• Switching Converter
g
• Boost Converter
• Cuk Converters
• Flyback and Forward Converters
• Resonant and Switching Converters
g
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All figures taken from primary textbook unless otherwise cited.
Operational Amplifiers
Operational Amplifiers
• In electromechanical systems, signal processing, signal conditioning, and other tasks are
accomplished through the use of integrated circuits (ICs).
p g g ( )
• The filters and controllers utilized for these devices are embedded within a series of power
amplifiers used for either inductive or capacitive control.
• Thus, in order to develop a complete electromechanical system, one must understand how
effectively model and simulate the performance of these signal conditioning circuits
effectively model and simulate the performance of these signal conditioning circuits
• Simply put, an amplifier’s output is the difference between two input voltages applied to the
inverting input and the noninverting input terminal and multiplied by the differential open‐
loop coefficient gain, kog.
• Inverting and noninverting signals are labeled using “‐” and “+” respectively
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Proportional Operational Amplifiers
Proportional Operational Amplifiers
• Inverting operational amplifier
– Bias is supplied to the inverting input terminal using an external resistor R1, and grounded to the
noninverting input.
– The output terminal is connected to the input by a second external resistor, R2.
requires u 0 (t )
u1 ( t )
u 0 (t ) k og
u 0 (t ) R2
k cg R1
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Multiple Input Operational Amplifiers
Multiple Input Operational Amplifiers
• Inverting operational amplifier
– Bias is supplied to the inverting input terminal using an external resistor R1, and grounded to the
noninverting input.
– The output terminal is connected to the input by a second external resistor, R2.
u 0 ( t ) k og u 2 ( t ) u1, m ( t )
m
u 2 (t ) 0
u 0 (t )
u1 , m ( t )
k og
i1, m ( t )
R1, m
requires
m
R2
u0 (t ) u1,n (t )
n 1 R1,n
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Generalized Circuits in Using Impedance
Generalized Circuits in Using Impedance
• Inverting operational amplifier
– Bias is supplied to the inverting input terminal using an external impedance Z1(s), and grounded to
the noninverting input.
– The output terminal is connected to the input by a second impedance, Z2(s).
Various types of impedance
Z R ( s) R Z R ( j ) R
1 1
Z C (s) Z C ( j )
sC jC
Z L ( s ) sL Z L ( j ) jL
Gain achieved
U 0 ( s) Z (s)
G (s) 2
U1 ( s) Z1 ( s )
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Tables for Various Impedance Circuits
Tables for Various Impedance Circuits
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Tables for Various Impedance Circuits
Tables for Various Impedance Circuits
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Tables for Various Impedance Circuits
Tables for Various Impedance Circuits
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Impedance Example 1
Impedance Example 1
• Inverting operational amplifier
– Bias is supplied to the inverting input terminal using an external resistor R1, and grounded to the
noniverting input.
– The output terminal is connected to the input by a second external resistor, R2 and a capacitor C2.
Z1 ( s ) R1 Impedance within circuit
R2
Z 2 ( s)
R2C2 s 1
U 0 (s) Z (s) R /R
G (s) 2 2 1
U1 ( s ) Z1 ( s ) R2C2 s 1
Closed loop gain coefficient
R2
kcg
R1
Gain achieved
h d
Z R ( s) R Z R ( j ) R U 0 ( j ) Z ( j ) R2 / R1
G ( j ) 2
1 1 U 1 ( j ) Z1 ( j ) R2C2 j 1
Z C (s) Z C ( j )
sC jC
Z L ( s ) sL Z L ( j ) jL
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Impedance Example 2
Impedance Example 2
• Inverting operational amplifier
– Bias is supplied to the inverting input terminal using an external resistor R1, and a capacitor C1. The
noninverting input is grounded.
– The output terminal is connected to the input by a second external resistor, R2 and a capacitor C2.
Impedance within circuit
R1
Z1 ( s )
R1C1s 1
R2
Z 2 (s)
R2C2 s 1
Gain achieved
Gain achieved
R2
R2 R1C1s 1
R2C2 s 1
1
U 0 ( s) Z 2 ( s) R
Z R ( s) R Z R ( j ) R G(s)
U 1 ( s ) Z1 ( s ) R1 R2C2 s 1
1 1 R1C1s 1
Z C (s) Z C ( j )
sC jC
Z L ( s ) sL Z L ( j ) jL
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Inverting Integrating Amplifier
Inverting Integrating Amplifier
– Bias is supplied to the inverting input terminal using an external resistor R1,
– The noninverting input is grounded.
– The output terminal is connected to the input by a second external capacitor C2.
Gain achieved
U 0 ( s) Z 2 ( s) 1
G ( s)
U 1 ( s ) Z1 ( s ) R1C2 s
Solution for the bias voltage achieved
t
1 1
R1C2 s t0
u0 (t ) uc (t ) u1 ( )d
Z R (s) R Z R ( j ) R
1 1
Z C (s) Z C ( j )
sC j C
Z L ( s ) sL Z L ( j ) j L
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Inverting Derivative Amplifier
Inverting Derivative Amplifier
– Bias is supplied to the inverting input terminal using an external resistor R1, and a capacitor C1. The
noninverting input is grounded.
– The output terminal is connected to the input by a second external resistor, R2 and a capacitor C2.
Gain achieved
U 0 (s) Z (s)
G (s) 2 R2 C1 s
U1 (s) Z1 ( s )
Current across the capacitor, C1
du1 (t )
C1
dt
Solution for the bias voltage achieved
g
Z R (s) R Z R ( j ) R du1 (t )
1
u 0 (t ) R2 C1
1 Z C ( j ) dt
Z C (s)
sC j C
Z L ( s ) sL Z L ( j ) j L
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PID Controller Amplifier
PID Controller Amplifier
Gain achieved
R1C1 R2C2 1
R1C1s 2 s
Inverted gain G(s)
U 0 ( s) R C s 1R2C2 s 1
1 1
R1C2 R2C2
coefficient of 1 U1 ( s ) R1C2 s s
ki k d s 2 k p s ki
GPID ( s ) k p k d s
s s
Gain constants are
R1C1 R2C2 1
k d R2C1 , k p , kd
R1C2 R1C2
However these constants are negative, thus we add stability
to the system with an additional inverting amplifier that
provides positive gain constants
U 0 ( s ) R2 p 1
G(s) R2 d C1d s
Z R (s) R Z R ( j ) R U1 ( s ) R1 p R1i C2i s
1 1 R2 p 1
Z C (s) Z C ( j ) kd ,kp , k d R2 d C1d
sC j C R1 p R1i C2i
Z L ( s ) sL Z L ( j ) j L
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PID Controller Amplifier
PID Controller Amplifier
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Switching Converter: Buck Converter
Switching Converter: Buck Converter
• Using a pulse width modulation (PWM) switching
concept, the voltage at the load terminal can be
effectively controlled
• A high frequency step‐down switching converter (Buck
converter) is presented
• Th
The switching frequency is given as
it hi f i i
1
f
ton toff
• Where ton and toff are the switching time durations
Average load voltage
ton
udN _ av Vd d DVd
ton toff
Duty cycle
ton
dD
ton toff
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Switching Converter: Buck Converter
Switching Converter: Buck Converter
• A low‐pass first order filter with induction L and
capacitance, C ensures the specified voltage ripple
i C h ifi d l i l
ua 1 d D
, L
1 d D rs
min
ua 8LCf 2 2f
• Using Kirchoff’s laws, one finds the following set of
differential equations for a closed switch with a
reversed bias diode D.
uC rL rc iL rc ia rs il Vd
diL 1
dt L
uC rc iL ra rc ia Ea
dia 1
d
dt La
duC iL ia
dt C
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Switching Converter: Buck Converter
Switching Converter: Buck Converter
• A low‐pass first order filter with induction L and
capacitance, C ensures the specified voltage ripple
i C h ifi d l i l
ua 1 d D
, L
1 d D rs
min
ua 8LCf 2 2f
• Using Kirchoff’s laws, one finds the following set of
differential equations for a open switch with a reversed
bias diode D.
dduC iL ia
dt C
uC rL rc iL rc ia
diL 1
d
dt L
uC rc iL ra rc ia Ea
dia 1
dt La
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Switching Converter: Buck Converter
Switching Converter: Buck Converter
• Averaging circuit using cycled switching
duC iL ia
dt C
uC rL rc iL rc ia rs il d D Vd d D
diL 1
dt L
uC rc iL ra rc ia Ea
dia 1
dt La
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Boost Converter
Boost Converter
• one‐quadrant boost (step up) dc‐dc
switching converter
i hi
• Using Kirchhoff’s Laws
• Closed loop equations
duc 1
ia
dt C
rL rs iL Vd
diL 1
dt L
uc ra rc ia Ea
dia 1
dt La
• Open loop equations
iL ia
duc 1
d
dt C
uc rL rc iL rc ia Vd
diL 1
dt L
uc rc iL ra rc ia Ea
dia 1
dt La
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Boost Converter (cont.)
Boost Converter (cont.)
• one‐quadrant boost (step up) dc‐dc • The minimum value of inductance depends
switching converter
i hi on the switching frequency and the load
• Averaging concept equations using duty resistance as shown
cycle
d
1 d
2
ra
iL ia iL d D
duc 1 D D
Lmin
dt C 2f
uc rL rc iL rc ia uc d D rc rs ia d D rc ia d D Vd
diL 1
dt L
uc rc iL ra rc ia rc iL d D Ea
dia 1
dt La
• Steady state analysis results in the
following relationship
following relationship
ua 1
Vd 1 d D
• Expression for voltage ripple is
ua d
D2
ua ra Cf
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Closed Loop Boost Converter
L
Lagrangian
i Solution
S l i
Kinetic Equations _ of _ Motion
1
Lq12 La q 22 d D
Q1
2 dt q1 q1 q1 q1
0, 0, d D
q1 q2 Q2
dt q 2 q2 q 2 q2
Lq1 La q 2
q1 q 2
Lq1 rL rs q1 Q
d d
Lq1 , La q2
dt q 2 La q2 rc ra q 2
q2
dt q 2 Q
C
Potential
2
1 q2
2 C
q1
1
rL rs q1 Q
L
q2 1
0, q2 rc ra q 2 2 Q
q
q1 q2 C La C
Dissipative
D
1
2
rL rs q12 rc ra q22 dq1 dq
iL , 2 ia
dt dt
D D
rL rs q1 , rc ra q 2 uc
q2
q1 q 2 C
5/21/2010 22
Open Loop Boost Converter
L
Lagrangian Solution
i S l i
Kinetic Equations _ of _ Motion
1
Lq12 La q 22 d D
Q1
2 dt q1 q1 q1 q1
0, 0, d D
q1 q2 Q2
dt q 2 q2 q 2 q2
Lq1 La q 2
q1 q 2
q1 q2
d d Lq1 rL rc q1 rc q 2 Q1
Lq1 , La q2 C
dt q 2 dt q 2 q q
La q2 rc q1 rc ra q 2 1 2 Q2
Potential C
1 q1 q2
2
2 C 1 q q
q1 rL rc q1 rc q 2 1 2 Q1
q1 q2 q q L C
, 1 2
q1 C q2 C 1 q q
q2 rc q1 rc ra q 2 1 2 Q2
Dissipative La C
D
1
2
rL q12 rc q1 q1 ra q 22
2
dq1 dq
D D iL , 2 ia
rL rc q1 rc q 2 , rc q1 rc ra q 2 dt dt
q1 q 2 q q
uc 1 2
C
5/21/2010 23
Buck‐Boost
Buck Boost Converters
Converters
• The steady state ratio between the applied
and terminal voltages is
d i l l i
ua 1
Vd 1 d D
• Thus depending on the duty cycle, the
output voltage will be less than or greater
than the drive voltage Closed switch circuit
• The expressions for the voltage rippled and
minimum inductance are Homework:
Develop and solve the time averaging
ua d concept equations of motion for this system
D using either Kirchhoff’s law or Lagrangian
ua ra Cf dynamics and Matlab
Lmin
1 d D ra
2
2f
5/21/2010 24
Cuk Converters
Cuk Converters
• Unlike buck, boost, buck‐boost, and the flyback
converter topologies studied in this chapter
that are inductive
that are inductive • The steady state ratio between the applied
The steady state ratio between the applied
• Cuk converters are capacitive energy transfer and terminal voltages is
circuits ua 1
• If the switch is on or off, the currents in both Vd 1 d D
the input and output inductors are continuous. • Thus depending on the duty cycle, the
• Operational theory: when on, current through output voltage will be less than or greater
L1 rises and the voltage on C1 reverses the than the drive voltage
diode, turning it off. • The expressions for the voltage rippled and
The expressions for the voltage rippled and
• When off, C1 charges, the energy stored in the minimum inductance are
inductor L transfers the load and C1 transfers
u a 1 d D
energy from the source to the load
ua 8 LCff 2
L1min
1 d D ra
2
2d D f
Lmin
1 d D ra
2f
5/21/2010 25
Cuk Converters
Cuk Converters
When either open or closed, the equations of motion are
iL ia
duc 1
dt C
uc1 rL1 rc1 iL1 uc1dD rc1 rs iL1dD rsiadD Vd
diL1 1
dt L
uc1 rL rc iL rcia uc1dD rsiL1dD rc1 rs iLdD
diL 1
dt L
uc rciL ra rc ia Ea
dia 1
dt La
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Flyback and Forward Converters
Flyback and Forward Converters
• Used to magnetically isolate the input and
output using transformers in the switching
i f i h i hi
scheme
• Used for high voltage ac power amplification
such as that seen in flat panel TVs or AC
induction motors
• Closed switch: diode is reverse‐biased
– Switch closed for dD/f
• Open switch: diode is forward biased
Open switch: diode is forward‐biased
– Switch closed for (1‐dD)/f
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Flyback and Forward Converters
Flyback and Forward Converters
N1
id iL
N2
Closed _ switch
duc uc ra iL
dt C rc ra
diL 1 ra ra 2 N
uc rL ra iL 2 Vd
dt L rc ra rc ra N1
Open _ switch
duc uc ra iL
d
dt C rc ra
diL 1 ra ra 2
uc rL ra iL
dt L rc ra rc ra
duc uc ra iL
dt C rc ra
diL 1 ra ra 2 N
uc rL ra iL 2 Vd d D
dt L rc ra rc ra N1
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Resonant and Switchback Converters
Resonant and Switchback Converters
• Current trends are moving toward nonlinear resonant circuits
• Output voltage is regulated by changing the duty cycle which is constrained by upper and
lower limits of the response curve of the system
• Resonant converters are widely used in high performance electromechanical systems to
optimize the switching speed available
p g p
• Nonlinearity and control are central issues to be solved to improve steady state dynamic
characteristics, however for rapid pulse systems a set of linear differential equations may
suffice.
• Consider a switch that is open when D is forward biased (allowing current to pass)
Consider a switch that is open when D is forward‐biased (allowing current to pass)
• Consider the switch closed when D is reverse biased
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Resonant and Switchback Converters
Resonant and Switchback Converters
1
f cl
ton toff
iL1 iL1 d D
duc1 1
dt C1
iL ia
duc 1
d
dt C
uc1 rs rc1 rL1 iL1 rc1iL Vd d D
diL1 1
dt L1
iL1 iL
0 0 0 0 0 u 0
uc1 1 c1 C1
u 0 0 0
1
u 0
0
d 0 0
c C C
c 1
0
iL1 L uc1 rs rc1 rL1 iL1 rc1iL Vd d D
iL1 0 0 0
dt 0 0
0 0 0 iL 1 0
iL ra rc
uc1 uc rc1iL1 rL rc1 rc iL rcia
1
ia 0
1
0
rc
Ea
La a L
i
La La La
0
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