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Vandesype 2005
Vandesype 2005
1, FEBRUARY 2005
Abstract—When a “classical” current control scheme is applied, are first integrated and then compared to a nonlinear carrier. This
the line current of a boost power-factor-correction (PFC) converter control method can also be applied to active rectifiers based on
leads the line voltage, resulting in a nonunity fundamental dis- topologies different from the boost converter [5]. In [6] a gen-
placement power factor and in important zero-crossing distortion
in applications with a high line frequency (e.g., 400-Hz power sys- eral pulsewidth modulator is derived that allows one to easily
tems on commercial aircraft). To resolve this problem, a current- implement different control algorithms without input voltage
control scheme is proposed using duty-ratio feedforward. In this measurement for various topologies of PFC converters. One of
paper, the input impedance of the boost PFC converter for both the the controllers for the boost topology presented in [6], which
classical current-loop controller and the controller using duty-ratio catches the eye due to its simplicity, was derived independently
feedforward are derived theoretically. A comparison reveals the
advantages of the proposed control scheme: a low total harmonic in [7]. For this controller the switching waveforms for the switch
distortion of the line current, a resistive input impedance, virtu- in the boost PFC converter are derived by a straightforward com-
ally no zero-crossing distortion, and a fundamental displacement parison between the inductor current measurement and a saw-
power factor close to unity. The theoretical results obtained are tooth carrier. The amplitude of the sawtooth waveform is deter-
verified using an experimental setup of a digitally controlled boost mined by the output voltage controller.
PFC converter.
For reasons of price, the control algorithms for single-phase
Index Terms—Digital control, feedforward systems, input
impedance, power-factor correction (PFC), total harmonic distor-
PFC converters are in most cases implemented as analog circuits
tion (THD), zero-crossing distortion. [1]–[8]. With the advent of fast digital signal processors (DSPs)
embedding control peripherals such as pulsewidth-modu-
lation (PWM) generation units, AD converters, etc. (e.g.,
I. INTRODUCTION TMS320C2XX from Texas Instruments, ADSP-2199X from
Analog Devices, and DSP56800 from Motorola), new and more
I N power-factor-correction (PFC) converters operating in the
continuous conduction mode, the behavior of the current-
control loop determines how accurately the input current tracks
complicated control algorithms become feasible. For the near
future, as the ratio price/performance of DSPs is expected to
the desired waveshape. Since the behavior of this loop is in- decrease further, there is a fair chance that the analog control
fluenced by the impedance of the electromagnetic interference circuits will be abandoned in favor of digital implementations.
(EMI) filter and the unknown time-dependent line impedance, This tendency can also be illustrated by the recent interest in
guaranteeing stability of the converter under all circumstances digital control of PFC converters [9]–[12].
is not obvious. For the “classical” control loop using the mea- General design issues and peculiarities for the digital control
surement of the input voltage, this problem is studied in [1] and of boost PFC converters were discussed in [9] and [11]. Since
[2]. Where the method presented in [1] provides a general rule the measured control signals in converters often contain a sig-
of thumb, a more rigorous method using the state-space-aver- nificant ripple and high-frequency oscillations at the switching
aged model is described in [2]. To increase the robustness of the instants, special attention must be paid to the sampling instants
current-control loop against variations of the impedance at the in digitally controlled boost PFC converters. Sampling algo-
input of the converter, the insertion of a low-pass filter in the rithms that guarantee high frequency switching noise immunity
measurement circuit of the input voltage is suggested. for boost PFC converters are presented in [10] and [12].
Another popular, more recent control method is the nonlinear Fig. 1 shows the circuit diagram employed. For the purpose
carrier (NLC) control. This control method distinguishes itself of digital control, the analog control variables (the inductor
from the “classical” control method by the absence of the input current , the input voltage and the output voltage )
voltage measurement. To obtain a resistive input in a boost PFC must be converted into digital quantities by the analog-to-dig-
converter either the switch current [3] or the diode current [4] ital converter. The process of sensing the control variable,
Manuscript received December 23, 2003; revised January 27, 2004. Abstract amplifying the sensor output to the appropriate range and the
published on the Internet November 10, 2004. This paper was presented at analog-to-digital conversion, can be represented by a division of
the 2003 IEEE Applied Power Electronics Conference and Exposition, Miami the analog control variables by their respective reference values
Beach, FL, February 9–13.
The authors are with the Electrical Energy Laboratory (EELAB), De- ( and, ). The obtained digital dimensionless quan-
partment of Electrical Energy, Systems and Automation (EESA), Ghent tities ( , and ) are used by the digital controller to
University, B-9000 Ghent, Belgium (e-mail: vandesype@eesa.UGent.be; act on the duty ratio of the switch . The objective of the
degusseme@eesa.UGent.be; alex.vandenbossche@UGent.be; jan.melke-
beek@UGent.be). digital controller is to maintain a constant output voltage while
Digital Object Identifier 10.1109/TIE.2004.841127 guaranteeing low harmonic content of the line current .
0278-0046/$20.00 © 2005 IEEE
VAN DE SYPE et al.: DUTY-RATIO FEEDFORWARD FOR DIGITALLY CONTROLLED BOOST PFC CONVERTERS 109
Hence, the average switch voltage should be as indicated by the it can adopt its normal value (3) again. The resulting average
dotted line in Fig. 2: a “rectified” sinusoid delayed over a time switch voltage is indicated as a black line in Fig. 2.
, with a magnitude slightly larger than the input voltage and
with a discontinuity at the zero crossing of the line voltage. For III. DUTY-RATIO FEEDFORWARD
a boost converter operating in continuous conduction mode the
A. Current Controller Using Duty-Ratio Feedforward
average switch voltage is
As a resistive input is a desirable feature for a PFC con-
(5) verter [15], the task of the current-loop compensator consists
of forcing the inductor current to be identical in waveshape to
with the duty ratio of the switch and the output voltage. the input voltage. Hence, the current-loop compensator should
As the output voltage of a boost PFC converter is always posi- reconstruct, as accurately as possible, the average switch wave-
tive and the duty ratio is limited between 0–1, the average switch form of Fig. 2 (black line) from the inductor current error.
voltage must always be positive. However, according to (3) and Since the time delay between the input voltage and the
Fig. 2 (dotted line), the average switch voltage should be neg- average switch voltage is usually very small (in our case less
ative at the zero crossing of the line voltage. This discrepancy than 20 s), both waveforms are almost identical. Therefore, the
causes the so-called cusp distortion. Since the switch voltage average switch voltage is reconstructed better by adding the
cannot become negative, it remains zero during the time until value of the input voltage to the output of the current-loop com-
the inductor current is back on track (Fig. 2). The time can be pensator. Consequently, the current-loop compensator only has
calculated using the differential equation of the boost inductor to compensate for the small difference between and in-
stead of compensating for entirely. This results in a smaller
inductor current error and a better tracking of the commanded
(6) inductor current. The forwarded switch voltage becomes
By using (1), the differential (6) can be integrated over a time (11)
1, corresponding to the current-loop controller without or with have a negligible influence on the ripple waveform of the in-
duty-ratio feedforward, respectively. ductor current, which allows one to derive (15). Consequently,
the input impedance cannot be considered separately from
B. Input Impedance the impedance of the capacitor . Therefore, the total input
If the output voltage of the boost PFC converter is not impedance is defined as
constant, the feedforward path (12) introduces a nonlinearity
in the control path. To calculate the input impedance of the (18)
boost PFC converter with a feedforward current control loop,
linearization is required. Using capitals for steady-state values
and hatted small letters for small excursions from steady state, C. Different Transfer Functions for a Digitally Controlled
the linearized version of the nonlinear feedforward path (12) be- Boost PFC Converter
comes To obtain quantitative values for the input impedances (17)
and (18), the transfer functions of the different blocks in the
(13) digital controller of the boost PFC converter are required. As
the different transfer functions were derived in [11], [12], and
Taking into account that and , [14], the results are listed only briefly in this paper.
allows one to derive the small-signal transfer function of the • For reasons of stability a low-pass filter is inserted in the
current loop controller (Fig. 3) signal chain of the input voltage [2]. As low-pass filter,
a first-order analog filter was inserted before the ADC
(19)
(14) (20)
The response of the boost converter can be expressed as • As modulator, a uniformly sampled symmetric-on-time
modulator is used. In [14] a frequency-domain model for
(15) this modulator was derived. Taking into account an extra
delay of half a switching period for the calculation of
the control output, the modulator response can be derived
By eliminating the duty ratio in (14) and (15), the inductor
(in the frequency domain)
current of the converter becomes
(21)
D. Discussion of Results
The inductor current (16) of a boost PFC converter with
(16) a current-control loop is determined by two external inputs: the
input voltage and the output voltage . While the response
Hence, the small-signal input impedance is (17), shown at the to the input voltage results in an input impedance (17), the reac-
bottom of the page. tion of the inductor current to a change of the output voltage is
To avoid any influence of the unknown line impedance on the considered to be a disturbance. The transfer function from this
basic operation of the boost PFC converter, it is necessary to in- disturbance to the inductor current is
sert the input capacitor (Fig. 1) with an impedance much
smaller than the impedance of the inductor at the switching (22)
frequency. Under these circumstances, the line impedance will
(17)
112 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 52, NO. 1, FEBRUARY 2005
(23) Fig. 4. Total input impedance ^z of the boost PFC converter (dashed
lines: without feedforward; full lines: with feedforward; black lines:
G G
= (150 ) ; gray lines: = (50 ) ).
(24)
with
(25)
(26)
Fig. 8. Line current and line voltage at 50 Hz of the PFC converter using the Fig. 10. Line current and line voltage at 400 Hz of the PFC converter using the
current-control loop without feedforward withG = (100 ) (line voltage: current-control loop with G = (50 ) without feedforward (line voltage:
gray line; line current: black line). gray line; line current: black line).
Fig. 11. Line current and line voltage at 400 Hz of the PFC converter using
Fig. 9. Line current and line voltage at 50 Hz of the PFC converter using the
current-control loop with feedforward with G = (100 ) (line voltage: the current-control loop with feedforward with G = (50 ) (line voltage:
gray line; line current: black line). gray line; line current: black line).
in applications with a high line frequency. To improve the David M. Van de Sype (M’01) was born in Aalst,
behavior of the boost PFC converter a current-control scheme Belgium, in 1975. He received the M.S. and Ph.D. de-
grees in electromechanical engineering from Ghent
using feedforward of the duty ratio is proposed. To compare University, Ghent, Belgium, in 1998 and 2004, re-
both the “classical” control scheme and the control scheme spectively.
using feedforward, the input impedance of the boost PFC con- Since 1998, he has been with the Electrical Energy
Laboratory, Department of Electrical Engineering,
verter is calculated in both cases. The theoretical analysis shows Systems and Automation, Ghent University. His
that the input impedance of the converter using feedforward research interests include power electronics, control
remains resistive with an almost constant magnitude over a of converters, and power-factor correction.
wide frequency range. Hence, the main features of the converter
using a current-control loop with duty-ratio feedforward are: a
low THD of the line current, resistive input impedance, virtually
Koen De Gussemé (M’03) was born in Aalst, Bel-
no zero-crossing distortion and a fundamental displacement gium, in 1979. He received the Master of Science de-
power factor close to unity. gree in electromechanical engineering in 2001 from
Ghent University, Ghent, Belgium, where he is cur-
rently working toward the Ph.D. degree in the Depart-
REFERENCES ment of Electrical Energy, Systems and Automation.
He is also currently a Researcher in the Department
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pp. 613–619, Jun. 1999. Jan A. Melkebeek (M’82–SM’84) was born
[8] S. Wall and R. Jackson, “Fast controller design for single-phase power- in Ghent, Belgium, in 1952. He received the
factor correction systems,” IEEE Trans. Ind. Electron., vol. 44, no. 5, pp. “Ingenieur” degree in electrical and mechanical
654–660, Oct. 1997. engineering Doctor in Applied Sciences degree, and
[9] S. Buso, P. Mattavelli, L. Rossetto, and G. Spiazzi, “Simple digital the Doctor Habilitus: degree in electrical and elec-
control improving dynamic performance of power factor preregulators,” tronical power technology from from the University
IEEE Trans. Power Electron., vol. 13, no. 5, pp. 814–823, Sep. 1998. of Ghent, Ghent, Belgium, in 1975, 1980, and 1986,
[10] J. Zhou, Z. Lu, Z. Lin, Y. Ren, Z. Qian, and Y. Wang, “Novel sampling respectively.
algorithm for DSP Controlled 2 kW PFC converter,” IEEE Trans. Power Since 1987, he has been a Professor of Electrical
Electron., vol. 16, no. 2, pp. 217–222, Mar. 2001. Engineering (Electrical Machines and Power Elec-
[11] K. De Gussemé, D. M. Van de Sype, and J. A. Melkebeek, “Design issues tronics) with the Engineering Faculty of the Univer-
for digital control of boost power factor correction converters,” in Proc. sity of Ghent and the Director of the Laboratory for Electrical Machines and
IEEE Symp. Industrial Electronics (ISIE’02), vol. 3, L’Aquila, Italy, July Power Electronics (the former Laboratory for Industrial Electricity). Since 1993,
8–11, 2002, pp. 731–736. he has also been the Head of the Department of Electrical Power Engineering,
[12] D. M. Van de Sype, K. De Gussemé, A. P. Van den Bossche, and J. A. Systems and Automation. He was a Visiting Professor at the Université Na-
Melkebeek, “A sampling algorithm for digitally controlled boost PFC tionale de Rwanda, Butare, Rwanda, Africa, in 1981, and a Visiting Assistant
converters,” IEEE Trans. Power Electron., vol. 19, no. 3, pp. 649–657, Professor at the University of Wisconsin, Madison, in 1982. His teaching activ-
May 2004. ities and research interests include electrical machines, power electronics, vari-
[13] J. Sun, “On the zero-crossing distortion in single-phase PFC converters,” able-frequency drives, and control systems theory applied to electrical drives.
IEEE Trans. Power Electron., vol. 19, no. 3, pp. 685–692, May 2004. Prof. Melkebeek is a member of the Koninklijke Vlaamse Inge-
[14] D. M. Van de Sype, K. De Gussemé, and J. A. Melkebeek, “Frequency nieurs-vereniging (KVIV) and the Koninklijke Belgische Vereniging van
domain analysis of digital pulse-width modulators,” in Proc. Electri- Elektrotechnici (KBVE-SRBE) and a Fellow of the Institution of Electrical
macs’02, Montréal, QC, Canada, Aug. 18–21, 2002, CD-ROM. Engineers, U.K. He served as the President of the IEEE Benelux IAS-PELS
[15] W. Ryckaert, J. Ghijselen, and J. Melkebeek, “Harmonic mitigation po- Joint Chapter from 2002 to 2003 and is a longtime member of the Electric
tential of shunt harmonic impedances,” Elect. Power Syst. Res., vol. 65, Machines Committee of the IEEE Industry Applications Society and of the
pp. 63–69, 2003. Machine Theory Subcommittee of the IEEE Power Engineering Society.