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Power Electronic System Design Linking Differential Equations Linear Algebra and Implicit Functions Keng C Wu Download PDF Chapter
Power Electronic System Design Linking Differential Equations Linear Algebra and Implicit Functions Keng C Wu Download PDF Chapter
KENG C. WU
Switching Power, Inc. Ronkonkoma, NY, United States
POWER ELECTRONIC
SYSTEM DESIGN
Linking Differential
Equations, Linear Algebra,
and Implicit Functions
Elsevier
Radarweg 29, PO Box 211, 1000 AE Amsterdam, Netherlands
The Boulevard, Langford Lane, Kidlington, Oxford OX5 1GB, United Kingdom 50
Hampshire Street, 5th Floor, Cambridge, MA 02139, United States
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This book and the individual contributions contained in it are protected under copyright
by the Publisher (other than as may be noted herein).
Notices
Knowledge and best practice in this field are constantly changing. As new research and
experience broaden our understanding, changes in research methods, professional practices,
or medical treatment may become necessary.
Practitioners and researchers must always rely on their own experience and knowledge in
evaluating and using any information, methods, compounds, or experiments described
herein. In using such information or methods they should be mindful of their own safety
and the safety of others, including parties for whom they have a professional responsibility.
To the fullest extent of the law, neither the Publisher nor the authors, contributors, or
editors, assume any liability for any injury and/or damage to persons or property as a matter
of products liability, negligence or otherwise, or from any use or operation of any methods,
products, instructions, or ideas contained in the material herein.
ISBN: 978-0-323-88542-3
2 First-order circuits 19
2.1 RC network with periodic drive source 19
2.2 Sawtooth (triangle ramp) generator 30
2.3 Full-wave rectifier with RC load 33
2.4 A brushless DC Motor with permanent magnets rotor 38
2.5 A BLDC motor speed detector 45
References 47
3 Current source 49
3.1 Semiconductor diode equation 49
3.2 Simple current source 50
3.3 Bob Widlar current source 54
3.4 Improved current source 58
3.5 Source impedance 60
3.6 555 timer 64
3.7 Precision current loop 70
3.8 Current-mode laser driver 74
3.9 LED array driver 76
3.10 JFET current source 77
3.11 MOSFET current source 78
vii
viii Contents
4 Second order 81
4.1 Form 81
4.2 Root 83
4.3 Time domain 85
4.4 Frequency domain 89
4.5 Parallel and serial resonance 92
4.6 Eigen value approach 103
4.7 RC filters and Sallen–Key filters 104
4.8 Power filters 111
4.9 Oscillator 113
4.10 Implicit function 120
xi
Preface
Years ago, Prof. Emeritus Chi-Tsong Chen, the author of Linear System
Theory and Design, a very successful textbook (Oxford University Press), met
the author at his Flushing, New York residence. In the meeting, and in the
preface of Signals and Systems – A Fresh Look his last publication (PDF form
free to all globally), Prof. Chen lamented that “Feedbacks from graduates
that what they learned in university is not used in industry prompted me to
ponder what to teach in signals and systems.”
Sadly,and based on long professional career serving RCA/GE/Lockheed
Martin space sector, the author can definitively confirm the fact Prof.
Chen was sad about. The less-than-desirable state had existed, and is still
present,in the form that many degree-holding engineers including electrical,
electronic, mechanical, and other specialties are falling short in applying
mathematical tools they were taught in college. Given electrical schematic
drawings, they were unable to formulate and express systems’ dynamics in
state variables and state transition using the first-order differential equations
and linear algebra technique. As a result, they were unable to boost their
productivity using software such as MATLAB.
This book intends to bridge the gap—what is taught in college and how
it is being applied in industry. In essence, this writing shall be considered
didactic.
It begins with Chapter one giving capacitors and inductors, two indis-
pensable energy storage components, an in-depth examination from the
view point of the first-order derivative, its corresponding integral form,
and its physical implications. Chapter two covers RC- and RL-type net-
works governed by a single differential equation. Key steps moving system
differential equations to Laplace transform in a frequency domain and to
a state-space transition form are introduced. Along the way, unconven-
tional approaches deriving Fourier series, explaining orthogonal property,
or treating boundary value problems are also explored. Chapter three covers
current sourcing circuits including current mirror, the workhorse of analog
integrated circuits, and precision current generator loops critical to instru-
mentation. Chapter four extends Chapter two to networks of second order
governed by two first-order differential equations. Procedures transforming
multiple differential equations to Laplace form, to state-transition form, and
to state-transition solution are shown. Chapter five examines circuit blocks
xiii
xiv Preface
was said true in the past may not be true in the future when new discoveries
see the daylight.
On the backdrop of the above conviction, this author took additional
efforts to make this writing also available in Chinese language;thanks to pub-
lisher Elsevier for granting such translation right. Thanks are also extended
to Mr. , at ITRI (Industrial Technology Research Institute, Hsinchu Taiwan),
who had performed the translation, a very demanding task considering the
limitations of Chinese language in handling technical subjects.
With the advance of miniaturized electronic hardware and supercom-
puter equipped with mathematical co-processors, engineering design tasks
are now mostly carried out by the simulation and computation. The
implementation of both always requires design formulation in the form
of analytical expressions based on, in most cases, systems of differential
equations with coefficients depending on components/parts values.
In the course of almost four decades‘Ł‘™professional career in aerospace
industries, the author had definitely derived significant benefits from follow-
ing the path outlined above.
You, readers, can certainly do the same.
Keng C. Wu
Princeton, NJ.
Dec. 2020
CHAPTER 1
i
dv(t ) +v
i(t ) C (1.1)
dt
Power electronic system design. Copyright © 2021 Elsevier Inc.
DOI: 10.1016/B978-0-32-388542-3.00004-2 All rights reserved. 1
2 Power electronic system design
v
i
t
t
v
By the same token, inductor and its electrical symbol was always intro-
duced by the following
i
di(t ) +v
v(t ) L (1.4)
dt
In this form, one important property of inductor stands out. That is, the
device allows a DC current, IDC , which however does not contribute to its
voltage.
3. The allowed DC current is however constrained within a limit; the
magnetic core saturation and winding wire Ampere rating.
i1 i2
v1 v2
N1 N2
B-H curve
0.4 0.4
0.2
B( H)
Tesla
0 0
−0.2
−0.4
−0.4
−400 −200 0 200 400
−400 H 400
Oersted
N1 i1 Aw1
λ1 = N1 1 = N1 Aw1 B = N1 Aw1 μoμr = N12 μoμr i1 = L1 i1
Lm Lm
(1.7)
where Aw1 stands for winding 1 cross-sectional area.
Under the same driving condition, Eq. (1.8), a cross-coupled flux linkage,
holds for winding 2, assuming Aw2 < Aw1 .
N1 i1 Aw2
λ2 = N2 2 = N2 Aw2 B = N2 Aw2 μoμr = N2 N1 μoμr i1
Lm Lm (1.8)
λ2 = M21 i1
Capacitor and inductor 7
B-H curve
0.4 0.4
0.2
B(H, 50)
Tesla 0
0
B(H, −50)
−0.2
−0.4
−0.4
−400 −200 0 200 400
−400 H 400
Oersted
Va
flux
−Va
Va Va
0
−Va −Va
(a) (b)
Fig. 1.8 Lumped model of real (a) capacitors and (b) inductors.
i1 M i2
v1 v2
N1 N2
1:1
i1 L 1 - M L2 - M i2
v1 M v2
Ideal
1:1
i1
(L1L2 - M 2 )/ i2
v1 M
v2
(L1L2 - M 2 )/ (L1L2 - M 2 )/ Ideal
(L2-M ) (L1-M )
Taking Laplace transform for the left most parts of Eqs. (1.21) and (1.22),
we reach a new equation set
v1 = sL1 I1 (s) + sMI2 (s) v2 = sMI1 (s) + sL2 I2 (s) (1.23)
Eq. (1.23) enables us to express I1 and I2 in terms of v1 and v2 .
v1 sM
v2 sL2 sL2 v1 − sMv2 (L2 − M )v1 + M (v1 − v2 )
I1 = = 2 =
sL1 sM s L 1 L2 − M 2 s L 1 L2 − M 2
sM sL2 (1.24)
v1 (v1 − v2 )
= +
−M
s L1 L2M−M
2 2
s L1LL22−M
sL1 v1
sM v2 sL1 v2 − sMv1 (L1 − M )v2 + M (v2 − v1 )
I1 = = 2 =
sL1 sM s L 1 L2 − M 2 s L 1 L2 − M 2
sM sL2 (1.25)
v2 (v2 − v1 )
= +
L1 L2 −M 2
s L1 L2M−M
2
s L1 −M
1:1
i1 (1-k 2)L 1 i2
v1 k 2L 1 v2
Ideal
Ac
Aw
Fig. 1.13 Half of a ferrite core; Ac = center post core area; Aw . (dotted line) = winding
window area, small filled circles = coil wires.
Here, Bmax is often chosen to be less than Bsat . Kf is a scaling factor relating
the RMS value of a periodic voltage and its time-domain magnitude.
Next, for each winding with peak current ij , a winding area (Aw )j is
conceptually assigned. Due to wire shape and unavoidable stacking in actual
build, only k(Aw )j is utilized. Given a desired inverse current density J [unit,
length2 /Amp],the winding peak current and its corresponding winding area
is associated by
k · (Aw ) j
ij = (1.28)
JN j
Eqs. (1.27) and (1.28) allow, for jth winding, its area product
(Vrms ) j JN j i j J (Vrms ) j i j
Ac (Aw ) j = · = (1.29)
K f f N j Bmax k kK f f Bmax
The total core cross-sectional area and winding area product covering all
winds is then
J
Ac A w = A c (Aw ) j = (Vrms ) j i j (1.30)
j
kK f f Bmax j
The summation on the right-hand side hints the total power handling
capacity of the device. The mathematical formulation may not be exactly
right, but it does give the flavor.
Therefore, referring to Fig. 1.13 and ignoring unit discrepancy, the
volumetric size of a magnetic device, in numerical term, may be considered
Capacitor and inductor 15
almost twice of Eq. (1.30). Designers must check with core manufacturers
as to the accounting of the area2 number to avoid over, or under, count;
therefore over, or under, sizing a device.
1.11.1 Capacitor
A c B–L m H curve
0.4
Weber(volt.second)=AcB
Ψ(H, 50∙500)
Ψ(H, −50∙500)
−0.4
−2×105 H 2×105
AmpereTurn=LmH
1.11.2 Inductor
The intricacy for specifying magnetic devices is, in this writer’s view, orders
of magnitude harder than that for capacitors. Here, we will begin with an
important reexamination of the B-H curves given in Fig. 1.4 and Fig. 1.5.
As far as this writer has been able to reach, the most existing literature
including journalistic articles and textbooks dealing with the subject cover
it solely in terms of B(flux density)-H(field strength) parameters. What was
not clearly mentioned in those presentations is the underlying significance
of presenting in B-H form. In a single statement, we proclaim that the
curve in B-H parameter form is “material specific.” It is characterizing a
specific ferrous material in terms of per unit volume. In other words, it is
independent of core geometry.
Therefore, those material property curves can be easily modified to be
“core specific,” Fig. 1.14, in which core geometry is now included; Ac core
cross-sectional area and Lm magnetic path length. The plot x-axis coordinate
is HLm (Ampere) while the y-axis is Ac B (flux, per turn, in Weber) (Readers
should ignore numerical figures in Fig. 1.14. It just shows that the inclusion
of core geometry will alter plot coordinate scales.)
By the same token, it can be further modified to be “device specific” or
“winding specific,” “terminal specific” in which the winding turn number,
N, is included. With that, the plot x-axis coordinate is Ni (Ampere turn)
while the y-axis is NAc B (total flux linkage in volt-second = ∫vdt).
In summary, three aspects are involved in specifying a magnetic device:
core material B-H, core geometry Ac B–HLm , and winding terminal NAc B-
Ni.
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in its natural state water and solid matter in the proportion of 90 parts
of the former to 10 parts of the latter, and if, we suppose, these 10
parts of solid matter to be cholenic acid with 5.87 per cent. of
nitrogen, then 100 parts of bile must contain 0.171 of nitrogen in the
form of taurine, which quantity is contained in .06 parts of theine, or,
in other words, 272 grains of theine can give to an ounce of bile the
quantity of nitrogen it contains in the form of taurine. The action of
the compound in ordinary circumstances is not obvious, but that it
unquestionably exists and exerts itself in both tea and coffee is
proven by the fact that both were originally met with among nations
whose diet was chiefly vegetable. These facts clearly show in what
manner tea proves to the poor a substitute for animal food, and why
it is that females, literary persons and others of sedentary habits or
occupation, who take but little exercise, manifest such a partiality for
tea, and also explain why the numerous attempts made to substitute
other articles in its place have so signally failed.
TEA AS A STIMULANT.
“Life without stimulants would be a dreary waste,” remarks some
modern philosopher, which, if true, the moderate use of good tea,
properly prepared and not too strong, will be found less harmful than
the habitual resort to alcoholic liquors. The impression so long
existing that vinous or alcoholic beverages best excite the brain and
cause it to produce more or better work is rapidly being exploded,
healthier and more beneficial stimulants usurping their place. But
while the claims made in favor of the “wine cup” must be admitted, it
cannot for a moment be denied that as excellent literary work has
been accomplished under the influence of tea, in our own times,
particularly when the poet, the essayist, the historian, the statesman
and the journalist no longer work under the baneful influence of
spirituous stimulants. Mantegaza, an Italian physiologist of high
repute, who has given the action of tea and other stimulants careful
study, confirms this claim by placing tea above all other stimulants,
his enthusiasm for it being almost unbounded, crediting it with “the
power of dispelling weariness and lessening the annoyances of life,
classing it as the greatest friend to the man of letters by enabling him
to work without fatigue, and to society as an aid to conversation,
rendering it more easy and pleasant, reviving the drooping
intellectual activity and the best stimulus to exertion, and finally
pronouncing it to be one of the greatest blessings of Providence to
man.”
Tea was Johnson’s only stimulant, he loved it as much as Porson
loved gin, drinking it all times and under all circumstances, in bed
and out, with his friends and alone, more particularly while compiling
his famous dictionary. Boswell drank cup after cup, as if it had been
the “Heliconian spring.” While Hazlitt, like Johnson, was a prodigious
tea-drinker, Shelley’s favorite beverage was water, but at the same
time tea was always grateful to him. Bulwer’s breakfast was
generally composed of dry toast and cold tea, and De Quincy states
that he invariably drank tea from eight o’clock at night until four in the
morning, when engaged in his literary labors, and knew whereof he
spoke when he named tea “the beverage of the intellectual.” Kent
usually had a cup of tea and a pipe of tobacco, on which he worked
eight hours at a stretch, and Motley, the historian tells us that he
“usually rose at seven, and with the aid of a cup of tea only, wrote
until eleven.” And Victor Hugo, as a general rule, used tea freely, but
fortifying it with a little brandy. Turning from literature to politics, we
find that Palmerston resorted to tea during the midnight sessions of
Parliament. Cobden declaring “the more work he had to do the more
tea he drank,” and Gladstone himself confesses to drinking large
quantities of tea between midnight and morning during the prolonged
parliamentary sittings, while Clemenceau, the leader of the French
Radicals, admits himself to be “an intemperate tea-drinker” during
the firey discussions of debate.
In moderation, tea is pre-eminently the beverage of the twilight hour,
when tired humanity seeks repose after a day of wearying labor.
Then the hot infusion with its alluring aroma refreshing and
stimulating, increasing the respiration, elevating the pulse, softening
the temper, producing tranquility in mind and body, and creating a
sense of repose peculiarly grateful to those who have been taxed
and tormented by the rush and routine of business cares and
vexations. What a promoter of sociability, what home comforts does
it not suggest, as, when Cowper, on a winter’s evening, draws a
cheerful picture of the crackling fire, the curtained windows, the
hissing urn and “the cup that cheers?” When, however, tea drinking
ceases to be the amusement of the leisure moment or resorted to in
too large quantities or strong infusions as a means of stimulating the
flagging energies to accomplish the allotted task, whatever it might
be, then distinct danger commences. A breakdown is liable to ensue
in more than one way, as not infrequently the stimulus which tea in
time fails to give is sought in alcoholic or other liquors, and the atonic
dyspepsia which the astringent decoction produced, by overdrawing
induces, helps to drive the victim to seek temporary relief in spirits
chloral or the morphine habit, which is established with extraordinary
rapidity. For it is a truth that as long as a person uses stimulants
simply for their taste he is comparatively safe, but as soon as he
begins to drink them for effect he is running into great danger. This
may be stating the case too forcibly for stimulants, but if this rule was
more closely adhered to we should have fewer cases of educated
people falling into the habit of secret intemperance or morphomania.
That Queen Anne ranked among its votaries is manifest from Pope’s
celebrated couplet:—
Johnson did not make verses in its honor, but he has drawn his own
portrait as “a hardened and shameless tea drinker, who for twenty
years diluted his meals with an infusion of this fascinating plant,
whose kettle had scarcely time to cool, who with tea amused the
evening, with tea solaced the night, and with tea welcomed the
morning.” While Brady, in his well-known metrical version of the
psalms, thus illustrates its advantages:—
That Coleridge, in his younger days, must have liked tea is inferred
from the following stanza:—
WORLD’S PRODUCTION
AND
CONSUMPTION.
The first direct importation of tea into England was in 1669, and
consisted of but “100 pounds of the best tea that could be procured.”
In 1678 this order was increased to 4,713 pounds, which appears to
have “glutted the market;” the following six years the total
importations amounting to only 410 pounds during that entire period.
How little was it possible from these figures to have foreseen that tea
would one day become one of the most important articles of foreign
productions consumed.
Up to 1864 China and Japan were practically the only countries
producing teas for commercial purposes. In that year India first
entered the list as an exporter of tea, being subsequently followed by
Java and Ceylon. In 1864, when India first entered the list of tea-
producing countries, China furnished fully 97 per cent. of the world’s
supply and India only 3, the latter increasing at such a marvelous
rate that it now furnishes 57, China declining to 43 per cent. of the
total.
TABLE 1.
ESTIMATED TEA PRODUCTION OF THE WORLD.
Countries. Production Exportation
(Pounds). (Pounds).
China, 1,000,000,000 300,000,000
Japan, 100,000,000 50,000,000
India, 100,000,000 95,000,000
Ceylon, 50,000,000 40,000,000
Java, 20,000,000 10,000,000
Singapore, 20,000 10,000
Fiji 30,000 20,000
Islands,
South 50,000 20,000
Africa,
—————— —————
Total, 1,270,100,000 495,050,000
From these estimates it will be noted that China ranks first in tea-
producing countries, followed by Japan, India, Ceylon and Java in
the order of their priority; the total product of the other countries
having little or no effect as yet on the world’s supply.
This most important food auxiliary is now in daily use as a beverage
by probably over one-half the population of the entire world, civilized
as well as savage, the following being the principal countries of
consumption:—
TABLE 2.
ESTIMATED TEA CONSUMPTION OF THE WORLD.
TABLE 3.
SUMMARY.
World’s 1,377,600,000
Production,
“ 1,307,130,000
Consumption,
—————
Surplus, 70,470,000
or
Quantity 503,100,000
exported,
Consumption in 432,630,000
non-producing
countries,
—————
Surplus, 70,470,000
In England, particularly, the increase in the consumption of tea in late
years borders on the marvelous, the figures for 1890 reaching
upwards of 195,000,000 pounds, which, at the present rate of
increase, will, in all probability, exceed 200,000,000 in 1892, as in
the quarter of a century between 1865 and 1890 the consumption
rose from 3½ to 5 pounds per capita of the population. But as in the
latter half of that period strong India teas were more freely used,
being increased appreciably by the similar Ceylon product in the
closing years of that time largely displacing the lighter liquored teas
of China, a larger consumption is indicated by the number of gallons
of liquid yielded. This is calculated on the moderate estimate formed
in a report to the Board of Custom to the effect that if one pound of
China leaf produces five gallons of liquor of a certain depth of color
and body, one pound of India tea will yield seven and a half gallons
of a similar beverage. Then by allowing for an apparent arrest of the
advancing consumption when the process of displacement was only
commencing, the increase in the consumption of tea in the British
Islands has not only been steady but rapid; thus, from 17 gallons per
head in 1865 to 24 in 1876, 28 in 1886, reaching 33½ gallons per
head per annum in 1890, the figures of last year almost exactly
doubling that of the first year of the series, so that in consequence of
the introduction of the stronger products of India and Ceylon the
people of Britain have been enabled to double their consumption of
the beverage, although the percentage of increase in the leaf has
been only from 3½ to 5 pounds during the same period. Ceylon tea,
which a decade ago was only beginning to intrude itself as a new
and suspiciously regarded competitor in the English market with
products so well known and established as the teas of China and
India, has recently made such rapid progress that its position in the
British market in 1890, rated by home consumption, occupying third
place on the list. India teas 52 per cent., China 30 per cent., Ceylon
18 per cent.
TABLE 4.
TABLE 5.
The earliest official record of the importation of Tea into the United
States is in 1790, the order of increase for its importation, value and
consumption in the country by decades since that year being as
follows:—
Year. Imports, Value. Consumption Average
Pounds. per capita. Import
Price.
1790, 3,022,983 ...... ... ...
1800, 5,119,341 ...... ... ...
1810, 7,708,208 ...... ... ...
1820, ...... ...... ... ...
1830, 8,609,415 $2,425,018 0.53 22.3
1840, 20,006,595 5,427,010 0.99 24.1
1850, 29,872,654 4,719,232 0.87 27.9
1860, 31,696,657 8,915,327 0.84 26.3
1870, 47,408,481 13,863,273 1.10 29.4
1880, 72,162,936 19,782,631 1.39 27.2
1890, 84,627,870 13,360,685 1.40 20.0
The first duty levied on tea by the United States was in 1789, when a
tax of 15 cents was imposed on all Black teas, 22 cents on Imperial
and Gunpowder, and 55 cents on Young Hyson. But in order to
stimulate American shipping these duties were reduced to 8, 13 and
26 cents respectively, the following year, when imported from Europe
in American vessels, and to 6, 10 and 20 cents when imported direct
from China in the same manner. In 1794, however, the rates were
increased 75 per cent. on direct importations, and 100 per cent. on
all teas shipped from Europe, but again reduced to 12,18 and 32
cents in 1796, the latter rates being doubled during the War of 1812.
In 1828 this tax was again reduced, being entirely removed in 1830,
except when imported in foreign bottoms, when a duty of 10 cents
per pound was collected. The latter rate continued in force up to the
outbreak of the Rebellion in 1861, when a uniform duty of 15 cents
per pound was placed on all teas, which was eventually increased to
20 cents and finally to 25 cents per pound. In January, 1871, this
duty was reduced to 15 cents, being entirely removed in July, 1872,
since which year tea has been uninterruptedly on the free list in the
United States.
TABLE 6.
Showing net imports, value and per capita consumption of tea in the
United States, from 1885 to 1891, inclusive:—
Year. Net Imports, Value. Per
Pounds. Capita,
Pounds.
1880, 69,894,760 $18,983,368 1.39
1881, 79,130,849 20,225,418 1.54
1882, 77,191,060 18,975,045 1.47
1883, 69,597,945 16,278,894 1.30
1884, 60,061,944 12,313,200 1.09
1885, 65,374,365 13,135,782 1.18
1886, 78,873,151 15,485,265 1.37
1887, 87,481,186 16,365,633 1.49
1888, 83,944,547 13,154,171 1.40
1889, 79,192,253 12,561,812 1.28
1890, 83,494,956 12,219,633 1.33
1891, 82,395,924 13,639,785 1.32
TABLE 7.
TABLE 8.