Chaper 7

Voltage Regulation
Presentation #2

Dr. Weidong Xiao

School of Electrical and Information Engineering

University of Sydney, Australia

2017
c

Photovoltaic Power System: Modelling, Design, and Control 1 / 21

Outline

1 Voltage regulation at PV link

2 Boost converter for PV link

3 Tapped inductor topology for PV link

4 Buck converter as the PV link power interface

5 Buck-boost topology for PV link

6 Flyback topology for PV link

7 Bus voltage regulation for DC microgrid

8 Summary

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Voltage regulation at PV link

The small signal model based on various PV link converters are derived in
Chapter 6.
As the case study, six transfer functions are derived according to the topology
of buck, full bridge transformer isolated, boost, tapped inductor, buck-boost,
and flyback.
Six models can be classified into two general formats that can be expressed in

K0
G0 (s) = (1)
s2 + 2ξωn s + ωn2

K0 (βs + 1)
G0 (s) = (2)
s2 + 2ξωn s + ωn2
They shows negative gain (K0 ) in the transfer functions, which indicate the PV
link voltage runs to the opposite direction in response to the control variable.
The unified transfer functions can be used for the controller synthesis based
on the Affine parameterization.

Photovoltaic Power System: Modelling, Design, and Control 3 / 21

Boost converter for PV link

The small signal model follows the same format as(1), when the boost
topology is used for PVSC.
The desired closed-loop transfer function can be defined as

ωcl2 1
FQ (s) = and then FQ (s) =
s2 + 2ξcl ωcl s + ωcl2 α2 s2 + α1 s + 1
By following the design sequence of Affine parameterization

s2 + 2ξωn s + ωn2
Q(s) =
K0 (α2 s2 + α1 s + 1)

The function of Q(s) is stable, since the poles are the same as those in the
pre-defined transfer function, FQ (s).
The feedback controller can be derived as
s2 + 2ξωn s + ωn2
C(s) =
K0 s(α2 s + α1 )

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Transformation to PID type

The controller can be expressed by the PID format, which is commonly used
in practical implementation.
Ki Kd
C(s) = Kp + +
s τd s + 1
where, the PID parameters can be derived as

α2
τd = (3a)
α1
ωn2
Ki = (3b)
K0 α1
2ξωn α1 − ωn2 α2
Kp = (3c)
K0 α12
α12 − 2ξωn α1 α2 + ωn2 α22
Kd = (3d)
K0 α13

Photovoltaic Power System: Modelling, Design, and Control 5 / 21

Case study for feedback system design using boost topology

Controller design follows the same case

After the design, the relative stability and developed in Chapter 5 and continued in
system robustness should be evaluated. Chapter 6.
Nyquist plot for evaluating phase margin,
gain margin, and sensitivity peak.
It should be noted that the above stability 0

analysis is only valid at the nominal

operating condition.
The controller is developed according to
−0.5
the small-signal model, which is

Im
linearized from a nonlinear model.
Comprehensive study can always be
performed to guarantee stable and −1

robust control by accommodating more C(jω)G0(jω)

potential operating condition and Critical point (−1, 0)
Origin (0, 0)
representing environmental variation. −1 −0.5 0
Re

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Simulation of PV voltage regulation using boost converter as PVSC

37.6
37.4
37.2 Setpoint The PV link
37 vpv (V)
voltage of 37 V
1.5 2 2.5 3 3.5 4 4.5 represents the
MPP showing
288.2 P (W)
288
pv 288.3 W.
287.8 For
287.6
demonstration
287.4
1.5 2 2.5 3 3.5 4 4.5 purpose, the
voltage setpoint
30 Duty cycle (%) is changed from
37.0 V to 37.5
20
V periodically,
10
1.5 2 2.5 3 3.5 4 4.5
Time (ms)

Photovoltaic Power System: Modelling, Design, and Control 7 / 21

Tapped inductor topology for PV link

The modelling process is described in Chapter 5 when the tapped inductor

topology is used.
The small signal model has bee derived in Chapter 6, which also shows the
2nd-order transfer function with the same format as (1).
The controller synthesis can follow the same as the design for the voltage
regulation of the the boost converter since both share the same format of the
plant model.
Using the affine parameterization, the desired closed-loop transfer function
can be defined.
Controller design demonstration follows the same case developed in Chapter
5 and continued in Chapter 6.

Photovoltaic Power System: Modelling, Design, and Control 8 / 21

Case study for feedback system design using tapped inductor topology

Controller design demonstration for the

tapped inductor system follows the same
case developed in Chapter 5 and
continued in Chapter 6.
After the design, the relative stability and 0
system robustness should be evaluated.
Nyquist plot for evaluating phase margin,
gain margin, and sensitivity peak.
It should be noted that the above stability −0.5

Im
analysis is only valid at the nominal
operating condition.
The controller is developed according to
−1
the small-signal model, which is
linearized from a nonlinear model. C(jω)G0(jω)
Critical point (−1, 0)
Comprehensive study can always be Origin (0, 0)
performed to guarantee stable and −1 −0.5 0
Re
robust control
Photovoltaic by accommodating
Power System: Modelling, Design, more
and Control 9 / 21
Simulation of PV voltage regulation using tapped inductor converter as PVSC

Design follows
37.4 the same case
developed in
37.2 Setpoint
vpv (V) Chapter 5 and
37
6.
1.5 2 2.5 3 3.5 4 4.5
The PV link
288.2 Ppv (W) voltage of 37 V
represents the
288
MPP showing
287.8 288.3 W.
1.5 2 2.5 3 3.5 4 4.5
For
62 demonstration
60 purpose, the
58
56 voltage setpoint
54
52 Duty cycle (%) is changed from
1.5 2 2.5 3 3.5 4 4.5 37.0 V to 37.5
Time (ms)
V periodically.
Photovoltaic Power System: Modelling, Design, and Control 10 / 21
Buck converter for PV link

The small signal model follows the same format as(2), when the buck
topology is used for PVSC.
The relative degree of the model is one since one minimal phase zero is
present.
The desired closed-loop transfer function can be defined as
1
FQ (s) =
αs + 1
By following the design sequence of Affine parameterization
s2 + 2ξωn s + ωn2
Q(s) =
K0 (βs + 1)(αs + 1)
The function of Q(s) is stable, since the poles are the same as those in the
pre-defined transfer function, FQ (s).
The feedback controller can be derived as
s2 + 2ξωn s + ωn2
C(s) =
K0 s(αβs + α + β))
Photovoltaic Power System: Modelling, Design, and Control 11 / 21
Transformation to PID type

The controller can be expressed by the PID format, which is commonly used
in practical implementation.
Ki Kd
C(s) = Kp + +
s τd s + 1
where, the PID parameters can be derived as

αβ
τd = (4a)
α+β
ωn2
Ki = (4b)
K0 (α + β)
2ξωn (α + β) − ωn2 αβ
Kp = (4c)
K0 (α + β)2
(α + β)2 − 2ξωn (α + β)αβ + ωn2 α2 β 2
Kd = (4d)
K0 (α + β)3

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Simulation of PV voltage regulation using buck converter as PVSC

37.6
Setpoint Design follows
37.4 v (V)
pv the same case
37.2
developed in
37 Chapter 5 and 6.
35 40 45 50 55 60 65 70 75
The PV link
voltage of 37 V
288.2
represents the
288 MPP showing
287.8 Ppv (W) 288.3 W.
35 40 45 50 55 60 65 70 75 For
demonstration
66 purpose, the
64
voltage setpoint
is changed from
62
Duty cycle (%) 37.0 V to 37.5 V
60
35 40 45 50 55 60 65 70 75 periodically.
Time (ms)
Photovoltaic Power System: Modelling, Design, and Control 13 / 21
Buck-boost topology for PV link

The modelling process is described in Chapter 5 when the Buck-boost

topology is used.
The small signal model has bee derived in Chapter 6, which also shows the
2nd-order transfer function with the same format as (1).
The relative degree of the model is one since one minimal phase zero is
present, which shows two poles and one minimal phase zero.
The controller synthesis can follow the same as the design for the voltage
regulation of the the buck converter since both share the same format of the
plant model.
Using the affine parameterization, the desired closed-loop transfer function
can be defined.
Controller design demonstration follows the same example developed in
Chapter 5 and continued in Chapter 6.

Photovoltaic Power System: Modelling, Design, and Control 14 / 21

Simulation of PV voltage regulation using buck-boost converter as PVSC

37.6 Design follows

Setpoint
37.4 vpv (V) the same case
37.2 developed in
37 Chapter 5 and 6.
50 60 70 80 90 100 110
The PV link
voltage of 37 V
288.2
represents the
288 MPP showing
287.8 Ppv (W) 288.3 W.
50 60 70 80 90 100 110 For
demonstration
52 purpose, the
50 voltage setpoint
48
46 is changed from
44 Duty cycle (%) 37.0 V to 37.5 V
42
50 60 70 80 90 100 110 periodically.
Time (ms)
Photovoltaic Power System: Modelling, Design, and Control 15 / 21
Buck-boost topology for PV link

The modelling process is described in Chapter 5 when the flyback topology is

used.
The small signal model has bee derived in Chapter 6, which also shows the
2nd-order transfer function with the same format as (1).
The relative degree of the model is one since one minimal phase zero is
present, which shows two poles and one minimal phase zero.
The controller synthesis can follow the same as the design for the voltage
regulation of the the buck converter since both share the same format of the
plant model.
Using the affine parameterization, the desired closed-loop transfer function
can be defined.
Controller design demonstration follows the same example developed in
Chapter 5 and continued in Chapter 6.

Photovoltaic Power System: Modelling, Design, and Control 16 / 21

Simulation of PV voltage regulation using flyback converter as PVSC

37.6
Setpoint
37.4 vpv (V) Design follows the
37.2 same case
37 developed in
50 60 70 80 90 100 110 Chapter 5 and 6.
The PV link voltage
288.2 of 37 V represents
288 the MPP showing
287.8 Ppv (W) 288.3 W.
50 60 70 80 90 100 110 For demonstration
purpose, the
52 voltage setpoint is
50 changed from 37.0
48
V to 37.5 V
Duty cycle (%)
50 60 70 80 90 100 110
periodically,
Time (ms)

Photovoltaic Power System: Modelling, Design, and Control 17 / 21

Bus voltage regulation for DC microgrid

When the dual active bridge (DAB) is used as the battery power interface for a
DC microgrid, it is required to contribute to the DC bus voltage regulation.
The variation of the DC bus voltage results from the unbalance between the
power injection and extraction.
A piece-wise linear model is derived in Chapter 6 for the K0
system and shows the 1st order dynamics when the G0 (s) =
τ0 s + 1
equivalent RC is applied.
The Affine parameterization can be used to synthesize the 1
FQ (s) =
control loop for voltage regulation. αs + 1
The desired closed-loop transfer function can be defined. τ0 s + 1
Q(s) =
Q(s) can be derived. K 0 (αs + 1)
The feedback controller can be derived, which is a PI controller.
τ0 s + 1 τ0 1 1
C(s) = = +
K0 αs K0 α K0 α s
|{z} |{z}
KP KI

Photovoltaic Power System: Modelling, Design, and Control 18 / 21

Waveform of DC link voltage regulation using DAB converter

350
R (Ω)

300
L

250 Design follows the

200 same case
1.5 2 2.5 3 3.5 4
developed in
Chapter 5 and 6.
Phase angle ( o )

50
40 Load change
30
20 significantly;
10
Phase angle in
1.5 2 2.5 3 3.5 4
response to the
load variation.
400
380 V is maintained
v (V)

380
dc

across DC link.
360
1.5 2 2.5 3 3.5 4
Time (ms)

Photovoltaic Power System: Modelling, Design, and Control 19 / 21

Summary

This presentation covers the controller synthesis when the common

topologies of the boost, buck, tapped inductor, buck-boost, and flyback are
used as the PV side converter.
The full bridge transformer isolated DC/DC converter is neglected since the
analysis can follow the same as the non-isolated buck converter.
The objective is to develop linear controllers for regulating the PV link voltage.
In the case study, the relative stability is evaluated and based on the nominal
plant model, which is a small signal representation. It generally shows
descent stability margins since the Affine parameterization is applied for the
closed-loop design.
For practical implementation, a comprehensive evaluation in term of phase
margin, gain margin, and sensitivity peak can be conducted according to a
wide operating condition, which is away from the nominal condition.

Photovoltaic Power System: Modelling, Design, and Control 20 / 21

Summary

The presentation also covers the bus voltage regulation for DC microgrid is
presented and designed when the dual active bridge is used for the battery
power interface.
Even though the controllers are developed by following the small-signal
models, the evaluation of the closed-loop operation is based on time-domain
simulation, which uses the simulation models that were developed in Chapter
5.
The simulation models are capable to demonstrate the nonlinearity including
the high-frequency switching operation.

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