Practical Control Design for Power Suppliesu.dianyuan.com/bbs/u/28/1113992181.pdf2 Practical Control...
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Practical Control Design for Power Supplies
Power Seminar 2004
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Practical Control Design for Power Supplies
¥ Refresher on closed loop feedback
¥ Special features of switch mode power supplies
¥ Stabilization and optimization of control loops— Example of stabilizing a flyback converter
¥ Advanced topics— Effect of input filter on transfer functions
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Objectives for Controlling Power Supplies
¥ Most switch mode power supplies use closed loop negative feedbackcontrol
¥ Like all closed loop feedback control systems it is important to ensurethat— The closed loop is stable— The response to a change does not have an excessive overshoot— The response to a change does not have excessive ringing— The cost of the control methodology is appropriate for the
application
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Basic Principles: Principles of an Oscillator Circuit
To understand how best to stop a powersupply from oscillating, we will consider theconditions under which a circuit will oscillate
We can build an oscillator circuit using— A differential amplifier with gain K— A phase shift of -180…— Unity gain negative feedback
When the oscillator is working— The amplifier output is sinusoidal— The output of the phase shift circuit is
shifted -180…, and scaled to 1/K— The negative feedback inverts the
sinusoid, giving a further phase shift of -180…
— The amplifier has gain K, so the outputis the same as where we started
Output-180… phaseshift x 1/KK+-0V
-180… phaseshift x 1/KK
+-
0V Output
-180… shift
Further -180… shift givestotal -360… shift
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Basic Principles: Generation of a Negative PhaseShift
¥ RC circuit— Gives a maximum phase shift of -90…— Three RC stages are necessary to
generate a guaranteed phase shift of -180…
¥ LCR circuit— Gives a maximum phase shift of -180…— An LCR circuit, plus an additional
phase shift element is necessary togenerate a guaranteed phase shift of -180…
¥ A differential amplifier having a capacitorin the feedback generates a constantphase shift of -90…
¥ We introduce something known as aRight Half Plane Zero
— This element generates amaximum phase shift of -90… in asimilar way to an RC circuit
¥ We note that three circuitsattenuate/reduce the input signal
— The integrator has a gain greaterthan 1 at low frequencies
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Basic Principles: Formal Names for Phase ShiftElements
Our example Formal name Maximum shift Transfer function
RC circuit (single) pole -90…
RLC circuit quadratic pole -180…
Op-amp with integrator pole -90…cap in feedback
Right half right half -90…plane zero plane zero
LCCRjVV
i
o21
1ωωωωωωωω −+
=
CRjVV
i
o
ωωωω+=
11
CRjVV
i
o
ωωωω1=
zi
o jVV
ωωωωωωωω−= 1
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Basic Principles: Standardized Forms
Our example Formal name Transfer function Parameters
RC circuit (single) pole
RLC circuit quadratic pole(lossy L)
Op-amp with integrator polecap in feedback
Right half right halfplane zero plane zero
RCp
1=ωωωω
2
2
1
1
οοοοοοοο ωωωωωωωω
ωωωωωωωω −+
=
QjV
V
i
o
p
i
o
jVV
ωωωωωωωω+
=1
1
i
i
o
jVV
ωωωωωωωω1=
zi
o jVV
ωωωωωωωω−= 1
RCi =ωωωω
CL
RQ
LCo
1
1
=
=ωωωω
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Pole at 100Hz
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Quadratic Pole at 200Hz, Q = 2
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Integrator with Unity Gain at 100Hz
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Right Half Plane Zero at 100Hz
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Basic Principles: Combining Elements
¥ The transfer function for a cascade of two or more elements is derived by— A multiplication of the transfer functions for each element
¥ The gain of a cascade— Is found by multiplying the magnitudes, or adding the magnitudes when
expressed in dB¥ The phase of a cascade
— Is found by adding the phases
Note: dB = 20 log10 (Vo / Vi)
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Basic Principles: Building a -180… Phase Shift
¥ We can now build a block to generate aguaranteed -180… phase shift
¥ For example, we could pick an LCRcircuit, followed by an RC circuit
¥ Or we could pick an LCR circuit followedby a Right Half Plane Zero
¥ Or we could pick three RC circuits
¥ In the example, we have cascaded a righthalf plane zero of 1kHz, with a quadraticpole at 200Hz, Q=0.1
— We have generated a phase shift of-180 degrees at 1400Hz-1500Hz
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ase
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Basic Principles: Building an Oscillator
¥ Now we have— Unity gain feedback— A phase shift of greater than -180…
¥ But the gain is less than 0dB so the loopwill not oscillate
¥ In the graph, the gain is -34dB
¥ So we need at least 34dB gain foroscillation
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n d
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ase
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rees
Output-180… phaseshift, -34dBK+-0V
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Basic Principles: Loop Gain
The attenuation of the phase shift networkis combined with the gain of the amplifier,and any other elements such as a controller,to give a total called the loop gainIf the gain is 1 we say unity gainWe have added 100x = 40dB gain to thecircuitIf the phase shift is not as much as -180… forunity loop gain, the loop will not oscillate
— In the example it is -225…If the gain is less than 1 where the phaseshift is -180… the device will not oscillate
— In the example the gain is 6dB = 2xSo the circuit will oscillate / is unstable
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ase
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rees
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Basic Principles: Phase Margin
¥ Switched mode power supplies are requiredto be stable. Oscillation is not desired
¥ If the phase shift at unity loop gain is -179…the power supply will be stable BUT
— Changes in component values may bringit over the edge
— The closed loop response would have avery large overshoot, long settling time,and significant ringing
¥ The phase margin is defined as 180… minusthe absolute phase shift at unity gain
— If the phase shift is -130…, the phasemargin is 50…
— So if the phase shift increases by 50… theloop will oscillate
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ase
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Close Up View to Show Phase Margin
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ase
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Step Response for Second Order System
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0 5 10 t x 2„ x fc
Un
it s
tep
res
po
nse
PM = 30 degrees
PM = 40 degrees
PM = 50 degrees
PM = 58 degrees
PM = 66 degrees
PM = 70 degrees
PM = 74 degrees
PM = 76 degrees
265us 530usIf fc is 3kHz
796us 1592us (slower response)If fc is 1kHz
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Effect of Phase Margin on Overshoot and Timing
The two plots show the relationships ina second order system for
— Phase margin andovershoot
— Time to first peak fora crossover frequencyof 3kHz
There is no peak for a phase marginabove 78 degrees
For example, if we had 62… phasemargin and a crossover frequencyof 3kHz
— This would result in anovershoot of 7%, with atime to first peak of less than500us
0
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1
1.5
2
2.5
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Tim
e to
fir
st p
eak
ms
0%10%20%30%40%50%60%70%80%90%
100%
0 10 20 30 40 50 60 70 80
Ove
rsh
oo
t
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Basic Principles: Gain Margin
¥ The gain margin isdefined as theattenuation at -180…phase shift
¥ So the 6dBattenuation givesa gain margin of 6dB
¥If the gain rises by6dB the loop will beunstable
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ase
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Basic Principles: Laplace transforms
ωωωωσσσσ
ωωωωσσσσ
js
stasteadyusoidalsinfor
js
dte)t(f)s(F st
==
+…
=×
−
0
0
¥ We have used expressions for thetransfer functions of the phase shiftelements using j_
¥ This form of the transfer function is validfor the sinusoidal steady state
¥ To be more general, we write transferfunctions in terms of s when we are notspecifically focused on sinusoids
¥ The transfer function F(s) of a system blockF(s) is derived from the Laplace transformof f(t)
— The Laplace transform integral isshown for reference
— f(t) is the response of the system blockto an impulse
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Transfer Functions for Power Supplies
A power supply must respond to changes in three separate parameters. The transfer functionsfor these parameters needs to be known to understand these changes
— The input voltage Gvg(s) input to output— The output current Zo(s) output impedance— The output voltage
The output voltage control loop is usually defined in terms of the control to output transferfunction, and not the voltage error to output transfer function
— Voltage mode/duty cycle control Gvd(s) control to output— Current mode/current programmed control Gvc(s) control to output
Input Voltage
Output Current
Output Voltage
Output VoltagePower Supply
Vg
Io
Vo
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Output Control Loop Including Load and Line Effects
OutputVoltage
Gvd(s)GpwmGc(s)+-
DesiredVoltage
Gvg(s)
Zo(s)
+-
Changesin load
Changesin Vg
+
dVe Vc Vo
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Output Voltage Control Loop
OutputVoltage
Gvd(s)
Gvc(s)GpwmGc(s)+
-DesiredVoltage
dVe Vc Vo
Ic
There are four elements in the output voltage control loopThe subtractor element, which generates an error signal by subtracting the desired
voltage from the output voltageThe compensator element, Gc(s), added by the designer to stabilize the loop and
improve the loop performance (more about what this improvement gives us later)The PWM element Gpwm which defines the relationship between the compensator
output signal and the duty cycle/current-mode control current (more about this later)The control-to-output transfer function Gvd(s) or Gvc(s)
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Output Voltage Control Loop — T(s) as Loop Gain
OutputVoltage
Gvd(s)GpwmGc(s)+-
DesiredVoltage
OutputVoltage
T(s) = Gc(s).Gpwm.Gvd(s)+-
DesiredVoltage
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Composite Transfer Function for Power Supply
)s(GvdGpwm)s(Gc)s(T)s(T
Zoi
)s(T)s(Gvg
v)s(T
)s(Tvv Ogref
↔↔=+
−+
++
=111
¥ The effect of changes in the set point, the input voltage and the output current on theoutput voltage is shown in the above equation
¥ The T(s) term corresponds the loop gain we have discussed in the introductory session— In the basic session we plotted the frequency and phase of T(j_)
¥ The open loop responses Gvg(s), Zo(s) and Gvd(s) are reduced by a factor of 1+T(s) if theyare put into a unity gain closed loop. We will now review why this is important.
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Importance of 1+T(s)
¥ If T(j_) is large at low frequency, 1+T(j_)will also be large at low frequency
— On a gain plot, it will be difficult to tellthe difference
¥ The closed loop will make changes in theoutput voltage caused by changes in theinput voltage 1+T(j_) times smaller
¥ So a high gain helps to have a highrejection of changes in the input voltage,similarly for the output load, anddisturbances in the duty cycle
¥ But gain cannot be high for all frequencies— The loop would be unstable
¥ So we recommend high gain at lowfrequencies only, which gives good lowfrequency ripple rejection
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+T
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Power Supply Controller Requirements
¥ Make the control loop stable¥ Provided by adequate phase margin
¥ Provide a sufficiently fast response¥ Provided by sufficiently high crossover frequency
¥ Provide an acceptable level of output damping¥ Provided by adequate phase margin
¥ Have a high gain to desensitize response to changes in line and load¥ This is achievable in reality at low frequency
¥ Minimize the steady state error to a step response¥ This is achieved by an integrator pole (1/s term) in the controller¥ This helps with low frequency rejection
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Flyback Converter Design Example
¥ The next section focuses on the design of a controller for a continuousconduction mode (CCM) current mode flyback converter
¥ The design example will be covered in a number of steps
¥ Selection of suitable parameters for the controller based on the gainand frequency plots discussed earlier
¥ Implementation of the controller in an electronic circuit anddiscussion of some practical circuit aspects
¥ Review of how the flyback circuit will respond to step changes inoperating conditions
¥ A review of how the operating conditions change these transferfunctions
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Plot For Uncompensated Current Mode FlybackConverter
¥ The starting point is the transfer function for a selected current mode CCM flyback converter
¥ Our objective is to design a compensator for this converter to improve its performance
¥ Because of our focus on building the controller, we will not discuss the CCM flyback transferfunction right now
— As this is an important topic, we will review this later
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Controller Elements
¥ Off-line power supplies based on flyback converters often use afeedback control circuit which provides the following elements
¥ An integrator pole— Improves low frequency rejection— Minimizes steady state error to step response
¥ A normal zero— INCREASES the phase at the desired crossover frequency
¥ A normal pole— The pole and zero are treated together as a pair as will be shown
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32
Normal (Left Half Plane) Zero at 100Hz
0
30
60
90
120
1 10 100 1000 10000 100000 1000000
Frequency Hz
Ph
ase
deg
rees
01020
30
40
50
6070
80
90
1 10 100 1000 10000 100000 1000000
Frequency Hz
Gai
n d
B
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33
Control Loop Optimization for Flyback Converter
¥ Step 1: Determine the loop gain without a compensator— We will assume this is given to us for the moment— This topic will be explored in detail later
¥ Step 2: Select the desired crossover frequency¥ Step 3: Using the pole/zero pair, generate enough phase boost to ensure
the correct phase margin at the desired crossover frequency— Remember that the integrator pole will add -90… phase shift
¥ Step 4: Set the gain of the integrator to zero out the gain at thecrossover frequency
¥ Step 5: Combine the elements and review the resulting response
¥ Tools to help with this— Spreadsheet to generate the frequency and phase plots
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34
Spreadsheet to Generate Frequency and PhasePlots
Output PWM Gain Gain Integrator Pole Zero0.182857 2 6720 Hz (unity gain) 5200 Hz 1730
Active NO YES YES YES YES
f/Hz Gain dB Phase deg Gain Inactive Gain Gain dB Gain Gain dB Phase deg Gain Gain dB Phase deg Gain1 82.56795 -90.13439 0.182857 -14.758 2 6.021 6720.000 76.547 -90.000 1.000 0.000 -0.011 1.000
1.1 81.74009 -90.14783 0.182857 -14.758 2 6.021 6109.091 75.720 -90.000 1.000 0.000 -0.012 1.0001.2 80.98431 -90.16127 0.182857 -14.758 2 6.021 5600.000 74.964 -90.000 1.000 0.000 -0.013 1.0001.3 80.28906 -90.17471 0.182857 -14.758 2 6.021 5169.231 74.269 -90.000 1.000 0.000 -0.014 1.0001.4 79.64536 -90.18815 0.182857 -14.758 2 6.021 4800.000 73.625 -90.000 1.000 0.000 -0.015 1.0001.5 79.04608 -90.20159 0.182857 -14.758 2 6.021 4480.000 73.026 -90.000 1.000 0.000 -0.017 1.0001.7 77.95891 -90.22847 0.182857 -14.758 2 6.021 3952.941 71.938 -90.000 1.000 0.000 -0.019 1.0001.9 76.99279 -90.25535 0.182857 -14.758 2 6.021 3536.842 70.972 -90.000 1.000 0.000 -0.021 1.000
2 76.54725 -90.26879 0.182857 -14.758 2 6.021 3360.000 70.527 -90.000 1.000 0.000 -0.022 1.0002.2 75.71936 -90.29566 0.182857 -14.758 2 6.021 3054.545 69.699 -90.000 1.000 0.000 -0.024 1.0002.5 74.60897 -90.33598 0.182857 -14.758 2 6.021 2688.000 68.589 -90.000 1.000 0.000 -0.028 1.0002.8 73.62455 -90.3763 0.182857 -14.758 2 6.021 2400.000 67.604 -90.000 1.000 0.000 -0.031 1.000
3 73.02525 -90.40317 0.182857 -14.758 2 6.021 2240.000 67.005 -90.000 1.000 0.000 -0.033 1.0003.3 72.19733 -90.44349 0.182857 -14.758 2 6.021 2036.364 66.177 -90.000 1.000 0.000 -0.036 1.0003.7 71.20347 -90.49724 0.182857 -14.758 2 6.021 1816.216 65.183 -90.000 1.000 0.000 -0.041 1.000
4 70.52623 -90.53755 0.182857 -14.758 2 6.021 1680.000 64.506 -90.000 1.000 0.000 -0.044 1.0004.4 69.69826 -90.5913 0.182857 -14.758 2 6.021 1527.273 63.678 -90.000 1.000 0.000 -0.048 1.000
-60
-40
-20
0
20
40
60
80
100
1 10 100 1000 10000 100000 1000000Frequency Hz
Gai
n d
B
The gain plot and phase plot (not shown here) are automatically calculated
Type YES to activate individual elements
For the chosen elements, fill in the one or two details
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35
Select the Desired Crossover Frequency
¥ The following plots show the uncompensatedtransfer function for our selected example
¥ Set the crossover frequency fc to 3kHz— The crossover frequency should be well
below any RHP zeros
¥ The gain at 3kHz is -11.8dB— The phase is -58…
¥ The phase shift seems to be very low.However, we will be adding an integratorwhich gives a constant phase shift of -90…
¥ Select the desired phase margin to be 60…— As we have -150… phase including the
integrator, we need +30… phase shift
-25
-20
-15
-10
-5
0
5
10
1 10 100 1000 10000 100000 1000000
Frequency Hz
Gai
n d
B
-90
-60
-30
0
1 10 100 1000 10000 100000 1000000
Frequency Hz
Ph
ase
deg
rees
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36
Phase Boost of Pole/Zero Pair
¥ The phase boost of a pole/zero pair ismaximum at frequency fc where:
— fc2 = fp x fz where fp > fz
¥ The pole should always have a higherfrequency than the zero
¥ The further apart the pole and the zero are,the higher the phase boost
— Typical values for boost are 30… to 60…
¥ Formulas for calculating the gain andphase boost exist
— It is quicker putting in trial numberswith the spreadsheet to get to theanswer
0
10
20
30
40
50
60
70
80
90
1 10 10
fp/fz
Phase boost degrees
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37
Phase Boost of Pole/Zero Pair — Resulting Data
¥ For our example, we need a phase boost of 30…
¥ Using the spreadsheet, activate just one poleand one zero
¥ Select the zero to be 1kHz to start¥ Set up a formula to calculate the pole as
3000*3000/fz (where fc=3kHz)
¥ Moving the zero nearer to 3kHz generates lessphase boost. Change the value until the desiredphase boost is reached
¥ fz =1.7kHz (zero) and fp = 5.3kHz (pole) gives aphase boost of 30…
¥ The gain at fc=3kHz is read to be +4.78dB0
30
60
1 10 100 1000 10000 100000 1000000
Frequency Hz
Ph
ase
deg
rees
0
2
4
6
8
10
12
1 10 100 1000 10000 100000 1000000
Frequency Hz
Gai
n d
B
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38
Integrator Gain Chosen to Set the Gain At fc to1 (0db)
¥ From before— The gain of the uncompensated loop
at fc = 3kHz is -11.8dB— The gain of the pole/zero pair at fc
= 3kHz is 4.78dB
¥ The total gain excluding the integrator is-7dB, so the integrator gain at 3kHz needsto be +7dB to compensate for this
¥ In the spreadsheet, adjust the integratorunity gain frequency to get 7dB gain at3kHz
¥ The frequency which meets this, fi, isfound to be 6.72kHz
-60
-40
-20
0
20
40
60
80
100
1 10 100 1000 10000 100000 1000000
Frequency Hz
Gai
n d
B
-120
-90
-60
-30
0
1 10 100 1000 10000 100000 1000000
Frequency Hz
Ph
ase
deg
rees
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39
Final Result
¥ The phase margin is 62…
¥ The crossover frequency is 3kHz
¥ The control loop is stable as the phase shift isless than -180… at the crossover frequency
¥ The control loop is fast
¥ The control loop is adequately damped
¥ The control loop has a high gain at lowfrequencies which
— Desensitizes the loop to low frequencychanges in input voltage and output load
— Has a 1/s term in the loop gain which giveszero steady state error to a step response -180
-150
-120
-90
-60
-30
0
1 10 100 1000 10000 100000 1000000
Frequency Hz
Ph
ase
deg
rees
-60
-40
-20
0
20
40
60
80
100
1 10 100 1000 10000 100000 1000000
Frequency Hz
Gai
n d
B
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40
Implementation of the Controller Circuit
This circuit shows how the controller is implemented in practice— The output voltage Vo is fed into the potential divider formed by R1 and R2— The node formed by R1 and R2 is set to 2.5V by the KA431 reference— The division ratio of R1/(R1+R2) is selected to give 2.5V at the desired output voltage
¥ For example, for 5V output, R1 and R2 are set to be equal— Small signal increases in the output voltage cause small signal increases in the opto-
coupler LED current which are transmitted to the PWM controller (on the left) via theoptocoupler
¥ This reduces the PWM controller Vfb voltage, which will then ultimately reduce theoutput voltage
RBiasR1
R2
RD
F RB
CB
FPS
RO
CO
vD
+
-
VO
+
-vS
+
-v
FB
+
-
ZF
KA431FOD2741
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41
Small Signal Transfer Function for Generic Circuit
CTRsCR
RRR
Z
v
v
BB
B
D
f
o
^
FB
^
?+
?−=11
+
-
ZF
vo
Vbias
RD
iD
ice
Rbias
Vref
R1
R2
v1
A
B
ibias
IFB
CB
RB
vFB
1:1iD
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42
Small Signal Transfer Function for Standard Circuit
CTRsCR
sC)RR(sCRR
R
v
v
BB
FF
FD
B
o
^
FB
^
?+
++?−=1
11
1
VStr VCC
VFB
RD220R0. 25W
RF
2K20 .25W
Rbias1K0 .2 5W
IC1
VOUT
FSDM02 65RN
CF
10 0nF50 V
CB33nF50 V
IC2H1 1A8 17A.W
R18 20.
IC3KA4 31LZ
R21K0.
0V(Hot )
0 V0 V(Hot )
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43
Setting the Values of the Compensator Components
¥ Choosing the component which sets fp— RB is internal to the FPS (3kohm)— Set CB for the right value of fp
¥ Choosing the components which set fi— R1 is typically in the range 1k-10k, as
a tradeoff between power consumptionand noise immunity
— RD is set by the DC bias currentrequirements for the optocouplerphotodiode
— Choose CF and R1 to get the rightintegrator unity gain frequency
¥ Choosing the components which set fz— Choose RF to get the right value of fz
FF
B
FD
BB
C)RR(fz
RCRR
fi
CRfp
1
1
21
2
21
+=
=
=
ππππ
ππππ
ππππ
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44
Practical Comments on the Controller Circuit
¥ Two components have no effect on the small signal transfer function— R2, the lower resistor in the potential divider— Rbias, the bias resistor for the KA431
¥ Practical tip: if the output voltage needs to be modified, change or varyR2 rather than R1
¥ The optocoupler generates the main source of variability— The CTR will vary from device to device and will reduce with
temperature— The small signal resistance of the photodiode adds to RD in the
formula. This resistance can vary from 50 ohms at light load to 5kohm at heavy load
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45
Practical Tips Regarding the Optocoupler
¥ Check the design at both light and heavy loads, and at temperatureextremes.
¥ Check the output response for stability and adequate damping.
¥ The optocoupler current transfer ratio, dynamic resistance of thephotodiode, and the effect on temperature of these two parameters allinfluence the closed loop performance— These aspects should be considered when considering multiple
optocoupler suppliers
¥ If the output voltage is far higher than the setpoint, an isolated converterwill drive the optocoupler into saturation— Confirm that the duty cycle is driven to zero in this condition
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46
Characteristics of a Photo Diode
0 200 400 600 800 1000 12000
100
200
300
400
500
600
700
800
900
1000
ID [uA
]
VD [mV]
I-V curve of a photo-diode ID = 2.25E-13*exp(V
D/0.0484)
0 200 400 600 800 1000
100
1000
dVD / dI
D = 0.0484 / I
R [O
hm]
ID [uA]
Resistance of a Photo-Diode
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47
Low Cost Compensator Circuit
VStr5
VCC2
VFB3
FSDL0165RN
R2
100R
0.25W
D200
12V
0.5W
Q200
BC847B
CB
15nF
50V
R1
VOUT
10K
0.25W
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48
Practical Comments on the Low Cost Compensator
¥ Advantages— Low cost— Low component count
¥ Characteristics— The transfer function consists of a gain term, and a single pole— There is therefore no integrator term, or a zero
¥ Disadvantages— Slower response— Larger voltage output variation due to changes in load and line
¥ The lack of a 1/s term in the controller forces a larger steadystate error
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49
Gain of PWM Stage
For complete analysis of the controller, we need to include the gain introduced bythe PWM stage
This sets the averaged signal relationship between the feedback voltage and theduty cycle
For a voltage mode PWM controller, this is 1/Vm, where Vm is the (theoretical)voltage required to generate 100% duty cycle.
So Vm ranges between 3.5V/60% and 3.5V/68% for the FSD200 shown above
For a current mode FPS, this gain is the current limit of the FPS divided by 3V (themaximum compensator output voltage)
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50
Response to Step Changes
¥ So far, we have reviewed the open and closed loop frequency responses of theflyback converter
¥ It is important to assess how these frequency responses affect the actualwaveforms we will see on an oscilloscope when the input voltage or the loadchanges
¥ A formal mathematical analysis is one way of seeing how the closed looptransfer function affects the response to changes in inputs— This is done using inverse Laplace transforms and is quite detailed
¥ A simpler way is to approximate the closed loop transfer function to a simplesecond order system— This is not always accurate, but gives us insight into several important
aspects
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51
Effect of Phase Margin on Overshoot and Timing
¥ The two plots show the relationshipbetween
— Phase margin andovershoot
— Time to first peak fora crossover frequencyof 3kHz
¥ There is no peak for a phase marginabove 78 degrees
¥ For our example, we had 62… phasemargin
— This would result in anovershoot of 7%, with atime to first peak of less than500us
0
0.5
1
1.5
2
2.5
0 10 20 30 40 50 60 70 80
Phase margin degrees
Tim
e to
fir
st p
eak
ms
0%10%20%30%40%50%60%70%80%90%
100%
0 10 20 30 40 50 60 70 80
Ove
rsh
oo
t
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52
Controlling Lower Input Voltage Topologies
¥ We used a CCM current mode flyback example to explain the controlmethodology in detail— Our example used an off-line system
¥ The same approach can be used to handle a wide range of topologies
¥ Fairchild Semiconductor s FAN5234/FAN5236 synchronous buck controller canbe used for example to convert 24Vdc down to 3.3V
— The FAN5234/FAN5236 uses the same type of control as discussed aboveusing a built-in controller
— External compensation is possible if needed
¥ A spreadsheet and Orcad PSPICE simulation setup is available for this part onhttp://www.fairchildsemi.com/collateral/AN-6002.zip
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53
Output Control Loop Including Load and Line Effects
OutputVoltage
Gvd(s)GpwmGc(s)+-
DesiredVoltage
Gvg(s)
Zo(s)
+-
Changesin load
Changesin Vg
+
dVe Vc Vo
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54
Comments on the Control-to-Output Transfer Function
¥ The transfer functions for the common topologies buck, buck-boost, flyback andboost topologies are available in the literature
¥ Erickson and Maksimovic (see Literature at end) Fundamentals of PowerElectronics details the methodology of the derivation which can be applied toother topologies
¥ The transfer functions for a given topology split up into four sets
Voltage modeCCM
Voltage modeDCM
Current modeCCM
Current modeDCM
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55
CCM Current Mode Flyback Transfer Function
The CCM current mode transfer functions aretaken from a standard reference
— Erickson and Maksimovic page 471 showsCCM transfer functions for buck/boost,buck and boost
— Fairchild Semiconductor FPS app noteshows how the turns ratio is introducedand shows these equations in rearrangedform as will be discussed below
The positions of the poles, zeros and gains aredependent on
— D, the actual duty cycle which varies withinput voltage, and in practice, also withload
— R, the effective load resistance, whichdepends on the load current RC
Df
n
n
DLR)D(
f
Rn
n
DD
G
where
fs
fs
GG
pole
s
p
prhpzero
s
pc
pole
rhpzerocvc
ππππ
ππππ
ππππ
ππππ
21
21
11
21
21
2
22
0
0
+=
?−=
??+−=
+
−=
gain
RHP zero
pole
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56
CCM Current Mode Flyback Transfer Function
¥ A CCM flyback converter working in current mode has— A gain, dependent on duty cycle and independently, the load— A pole, dependent on duty cycle and load— A right half plane zero, dependent on duty cycle and load
¥ The duty cycle in CCM is dependent mainly on the input voltage, and to someextent the variations in losses as the load changes
¥ In general, the transfer function of a switching regulator will vary significantlyunder load and line conditions
¥ An additional complexity is that under light load conditions, the converter willswitch to DCM operation, further changing the transfer function
— The changes for current mode controllers are less than for voltage modecontrollers
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57
Flyback and Buck-Boost Gvd(s) and Gvc(s) Structure
Voltage mode CCM Gvd(s)
GainRHP Zero max —90…Complex pole max —180…
Voltage mode DCM Gvd(s)
GainSingle pole max —90…
Current mode CCM Gvc(s)
GainRHP Zero max —90…Single pole max —90…
Current mode DCM Gvc(s)
GainSingle pole max —90…
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58
Buck Gvd(s) and Gvc(s) Structure
Voltage mode CCM Gvd(s)
GainComplex pole max —180…
Voltage mode DCM Gvd(s)
GainSingle pole max —90…
Current mode CCM Gvc(s)
GainSingle pole max —90…
Current mode DCM Gvc(s)
GainSingle pole max —90…
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How to Estimate D in Terms of Vo and Vg
¥ The duty cycle is an unknown parameter
¥ We know the input voltage Vg, the outputvoltage Vo and the turns ratio n
¥ We know the voltage conversionrelationship for a flyback converter
— This can be derived from firstprinciples or taken from a standardtext
¥ Based on this, we can rewrite the gain,pole and zero equations in terms of Vg, Voand n.
RO
g
go
g
oRO
s
p
go
o
g
o
VV
V
VnV
V
DD
nVV
n
nn
VnVnV
D
)D(nD
VV
+=
+=
+−
=
=
+=
−=
2211
1
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Gvc(s) for Multiple Output Flyback
¥ The transfer function is now written in the formused in the Fairchild Power Switch Designertool and application note
¥ As flyback very often have multiple outputs, theload resistance is calculated in a slightlydifferent way than for a single output solution
— Po is the total output power for all outputs
— Vo here is the output voltage for thecontrolled outputs
— The total effective load resistance R iscalculated as shown
o
o
pole
s
p
prhpzero
o
o
s
p
go
gc
PV
R
RCD
f
n
n
DLR)D(
f
PV
n
n
VnV
VG
2
2
22
2
0
21
21
2
=
+=
?−=
??+
=
ππππ
ππππ
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61
How the Parameters Change with Line and Load
¥ The table shows how the input voltage and output power influence the transfer function
¥ The right half plane zero dramatically reduces at lower input voltages and at higher powers
¥ The simple pole frequency increases with increasing power and to a lesser extent withdecreasing input voltages
¥ The gain increases with input voltage and input power
¥ In our FPS design tools, the plots are calculated for maximum power, minimum voltage
Vg 120 375 120 375 120 375 VPo 16 16 10 10 5 5 W
Gain 1.8 2.8 2.9 4.6 5.9 9.1 ratioFrhp 5,493 54,299 22,923 226,843 183,385 1,814,742 HzFp 469 398 291 247 146 124 Hz
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62
Further Issues to Consider
Effect of the equivalent series resistance of the output capacitorThis introduces a zero into the transfer functionThis is no problem if the zero has a frequency much higher than fc
The frequency is 1 / (2„ x ESR x Cout)In our example we included this: ESR=38mohm Cout=680uF (6.2kHz)This is included in our FPS analysis software
For a flyback converter, the effect of the output LC filter used to filter the spikesgenerated by the equivalent series resistor of the flyback capacitorThis is no problem if the pole has a frequency much higher than fc
The frequency is 1 / (2„ x sqrt(LC))The effect of the input filter
Incorrectly dimensioned input filters can destabilize a power supply
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Effect of Input Filter on the Stability of a Converter
¥ The detailed analysis of this is quite complex
¥ Erickson and Maksimovic (p382) propose a simplified methodology to determinewhether the stability of a power supply is adversely influenced by the input filter
¥ Explained in graphical terms— Plot the curves for the input impedance of the converter for three defined
conditions¥ Zn(j_) (with d(s) set to 0)¥ Zd(j_) (with d(s) set such that v(s) = 0)¥ Ze(j_) (with Vout shorted to 0V)
— These terms depend on the load resistance, the inductor value, the capacitorvalue and the duty cycle
— Plot the curve for the output impedance of the input filter, Zo(j_)— The curve for Zo(j_) should be well below the other curves
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Graphical Analysis of the Effect of the Input Filter
-80
-60
-40
-20
0
20
40
60
80
100
1 10 100 1000 10000 100000 1000000
Frequency Hz
Imp
edan
ce d
B-o
hm
s
ZE dBohm
ZN dBohm
ZD dBohm
ZO dBohm
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Practical Comments on the Input Filter
To prevent any problems:
The input filter should be sufficiently dampedNatural damping comes from the capacitor and inductor ESR sIn some cases, extra damping resistors must be added
The frequency of the input filter should be chosen to be well away from the resonantfrequency of ZdThe resonant frequency of Zd depends on the topology and can be checked
from tables provided in the appendixFor a voltage mode buck, the resonant frequency is 1/(2„ x sqrt(LC)) where L
and C are the values of the buck output elements
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Input Filter with 1 Ohm Damping Prevents StabilityProblem
-80
-60
-40
-20
0
20
40
60
80
100
1 10 100 1000 10000 100000 1000000
Frequency Hz
Imp
edan
ce d
B-o
hm
s
ZE dBohm
ZN dBohm
ZD dBohm
ZO dBohm
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Schematic for Damping Element
C
R
Lf
CfCf
ESR
Lf
For low ESR capacitorsErickson and Maksimovicrecommend an extra C andseries resistance
For high ESR capacitors,the intrinsic ESR willin practice provideenough damping
Power In
Power Out
Power In
Power Out
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Literature
¥ We have referred to the following book
Fundamen tals of Power Electronics , Second E dition, Erickson & Maksimovic,Kluwer Academic Publishers, 2001, ISBN 0-7923-7270-0
¥ Among other things, the book explains in detail the derivation of the modelsbehind the transfer functions, and in many cases the transfer functionsthemselves.