Tutorial - Double Control Loop Design

DoubleControlLoopDesign
SmartCtrlTutorial
PowersimInc. www.powersimtech.com
DoubleControlLoopDesign SmartCtrl1isageneralpurposecontrollerdesignsoftwarespecificallyforpowerelectronicsapplications. Thistutorialisintendedtoguideyou,stepbystep,todesignthecontroller(orregulator)ofadc/dc converterwithdoublecontrolloopsusingtheSmartCtrlsoftware. The converter in this example is a buck converter with inner current loop and outer voltage loop, as showninthefigurebelow.Theobjectiveistodesignthecurrentandvoltageregulators,ashighlighted inthereddottedboxes.
Outputvoltage=15V Input voltage
Converterparameters: Inputvoltage:30V Outputvoltage:15V Referencevoltage:2.5V Outputinductance:100uH Outputcapacitance:470uF Switchingfrequency:100kHz
Currentregulator Voltageregulator
Switching frequency Reference voltage
1. Definetheconverterandcontrolloopstructure . OrfromtheData Tobeginthedesignprocessinthisexample,inSmartCtrl,clickontheicon menu, choose Predefined topologies > DC/DC converters > Double loop. From the dialog window,selectthePlantdropdownmenuandchooseBuck(LCSVMC),asshownbelow.
Similartothesingleloopdesign,thedoubleloopdesignmustbedonesequentially,andSmartCtrlwill guideyouthroughtheprocess.
SmartCtrliscopyrightin2010byCarlosIIIUniversityofMadrid,GSEPPowerElectronicsSystemsGroup,Spain 2 PowersimInc. www.powersimtech.com
DoubleControlLoopDesign Notethatinalltheavailableplants,theouterloopisvoltagemodecontrol(VMC),whiletheinnerloop iscurrentcontrol.Dependingontheselectedplant,thecontrolledcurrentcanbefromeithertheoutput inductor(LCS)orfromthediode(DCS).Inthisexample,thecurrentfromtheoutputinductorisselected.
InnerLoopDesign
2. Definetheconverter Completetheparametersoftheplant,andclickOKtocontinue.
3. Selectthecurrentsensor Once the plant is selected, depending on the variable being controlled, SmartCtrl will display the appropriatesensorselection.
In this example, select Current Sensor, and specify the sensor gain, as shown below. Click OK to continue.
4. Selectthecurrentregulator Selectthecurrentregulatortypefromtheinnerloopregulatordropdownmenuasshownbelow.
Thetypeofregulatordependsontheplantcontrolled.Inthisexample,theproperchoiceisaType 2regulator.SelecttheType2regulator,andentertheparametersasshownbelow. Inthedialogwindow,Gmodisthemodulatorgain,andR11istheresistanceoftheresistorR11iin theregulator.
DoubleControlLoopDesign 5. Selectthecrossoverfrequencyandthephasemarginoftheinnerloop SmartCtrlprovidesaguidelineandaneasywayofselectingthecrossoverfrequencyandthephase marginthroughtheSolutionMap.ClickontheSetbutton,andtheSolutionMapwillbeshownas below.
ThexaxisoftheSolutionMapisthecrossoverfrequencyandtheyaxisisthephasemargin.Based on the converter parameters and the type of regulator selected, SmartCtrl will generate a safe design area as shown in the white area in the Solution Map. Any selection of the crossover frequencyandthephasemarginthatiswithinthiswhiteareawillleadtoastablesolution. Onecanselectthedesiredcrossoverfrequencyandthephasemarginbyenteringthevaluesinthe editboxes,andclickontheUpdatebutton,orleftclickdirectlyontheSolutionMap.Theselected designappearsasaredpointintheSolutionMap. Given a particular design, the attenuation given by the sensor and the regulator at the switching frequency is calculated and displayed in the edit box |K(s)*R(s)| atFsw.Notethatifthereisnot enoughattenuationattheswitchingfrequency,thesystemwilllikelyoscillateinthehighfrequency region. Also,ifadesignisnotproper,theeditboxeswillbechangetotheredcolor,warninguserstore selectthedesign. Toselectthecrossoverfrequencyandthephasemargin,ingeneral,acrossoverfrequencyof1/10 of the switching frequency and a phase margin of 45 to 60 deg. are a good initial guess for the design. In this example,wesetthecrossoverfrequencyat4kHzandthephasemarginat50deg, andthedesigniswellwithinthewhitesafedesignarea.ClickOKtocontinue. Thesolutionsmapwillbeshownontherightsideoftheinputdatawindow,asshownbelow.
ClickOKtocompletethedesignoftheinnercurrentloop.Onecanmoveontotheoutervoltage loopdesign.
OuterLoopDesign
Theprocedureofdesigningtheouterloopissimilartothatoftheinnerloop,asdescribedbelow. 6. Selectthevoltagesensor Choosethevoltagesensortypefromtheouterloopsensordropdownmenu.Inthisexample,the Voltagedividertypeisselected,asshownbelow.
Foravoltagedivider,onemustenterthereferencevoltage.SmartCtrlwillautomaticallycalculate thesensorgain.Inthisexample,thereferencevoltageissetat2.5V.Thesensorinputdatawindow isthefollowing:
Note that the design will be carried out using this gain, and the resistor values to implement the voltagedividerwillbeprovidedbytheprogramtogetherwiththeregulatorcomponentvalues. 7. Selecttheouterloopregulator Selecttheregulatortypefromtheouterloopregulatordropdownmenuasshownbelow.Inthis example,aPIregulatorwillbeselected.
Completetheparametersinthedialogwindow,whereGmodisthemodulatorgain.
8. Selectthecrossoverfrequencyandthephasemarginoftheouterloop Similar to the inner loop design, SmartCtrl provides a Solution Map to help users select the crossoverfrequencyandthephasemarginfortheouterloop.
7 PowersimInc. www.powersimtech.com
DoubleControlLoopDesign Tocarryouttheselection,justclickontheSolutionmap(outerloop)button.Thenselectapoint withinthewhiteareawithaleftmouseclick.Alternatively,onecanenterthecrossoverfrequency andphasemarginvaluesintheeditboxes.Inthisexample,thecrossoverfrequencyisselectedat 600Hzandthephasemarginisselectedat75deg.
NowclickOKtoconfirmthedesign,andtheprogramwillautomaticallyshowtheperformanceof thesystemintermsofthefrequencyresponse,polarplot,transientresponse,etc. Additionally,byselectingData>Parametersweep>InputparametersorRegulatorcomponents inSmartCtrl,onecanperformsensitivityanalysis. SmartCtrlprovidestheregulatorcomponentsvaluesneededtoimplementtheregulator,aswellas the voltage divider resistors. Since there are two control loops, users must select which one to display.
9. Validatetheregulatordesign After the design is completed, SmartCtrl provides the component values for the sensors and regulators. One can export the regulator circuit and parameters by selecting File > Export > Regulator>ToPSIM(schematic)(orclickingontheiconExporttoPSIM(schematic)),andperform atimedomaintransientsimulationinPSIMtovalidatethedesign. Inthisexample,twovalidationsarecarriedout,asdescribedbelow. Validation1.Closedloopfrequencyresponseoftheinnercontrolloop TheclosedlooptransferfunctionoftheinnerloopfromSmartCtrlwillbecomparedtothatobtained fromthePSIMacanalysis. ThePSIMschematicandtheacsweepresultsareshownbelow.
ACsweep
ACvoltmeter
ACperturbation
The frequency response can be easily compared to that obtained in SmartCtrl through the merge functioninSmartCtrl.Todothat,thePSIMacsweepresultmustbesavedastabseparatedtextfile (Excel compatible). In this example, the PSIM ac sweep results are saved to a file called inner closedloop.txt. Thenfollowthestepasshowninthefigurebelow.
Closed loop
Once the file containing the frequency response is selected, click OK to close the Add function window,andclicktheApplybuttontoplotthefrequencyresponse.Thiswillcloseallthewindows andthecomparisonwillbeshownintheBodeplotspanel,asshownbelow.
10 PowersimInc. www.powersimtech.com
The green line corresponds to the results from PSIM ac analysis, and the red one is obtained by SmartCtrl. It can be seen that these two results compare well, especially in the lowfrequency region. Validation2.Doubleloopsimulation The second validation is the simulation of the complete system in PSIM with both the inner loop regulatorandtheouterloopregulatorfromtheSmartCtrldesign.Theinnerandouterloopresults areincludedbelow.
11
DoubleControlLoopDesign Innerloopresults:
Outerloopresults:
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DoubleControlLoopDesign The PSIM schematic, with the sensor and the regulator component values from SmartCtrl, are shownbelow.
Tocheckthecontrolloopperformance,aloadstepchangeof100%isapplied.ThePSIMsimulation waveformsbelowshowthatthecontrollooprespondswelltothechange,validatingtheSmartCtrl design.
Outputcurrent
Loadcurrent
Loadstepof100%
The example illustrates that SmartCtrl in combination with PSIM provide a fast and powerful platformforthedesignandvalidationofpowerconvertercontrol.
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DoubleControlLoopDesign

Converterparameters: Inputvoltage:30V Outputvoltage:15V Referencevoltage:2.5V Outputinductance:100uH Outputcapacitance:470uF Switchingfrequency:100kHz

Switching frequency Reference voltage

SmartCtrliscopyrightin2010byCarlosIIIUniversityofMadrid,GSEPPowerElectronicsSystemsGroup,Spain 2 PowersimInc. www.powersimtech.com

DoubleControlLoopDesign Notethatinalltheavailableplants,theouterloopisvoltagemodecontrol(VMC),whiletheinnerloop iscurrentcontrol.Dependingontheselectedplant,thecontrolledcurrentcanbefromeithertheoutput inductor(LCS)orfromthediode(DCS).Inthisexample,thecurrentfromtheoutputinductorisselected.

Thetypeofregulatordependsontheplantcontrolled.Inthisexample,theproperchoiceisaType 2regulator.SelecttheType2regulator,andentertheparametersasshownbelow. Inthedialogwindow,Gmodisthemodulatorgain,andR11istheresistanceoftheresistorR11iin theregulator.

DoubleControlLoopDesign 5. Selectthecrossoverfrequencyandthephasemarginoftheinnerloop SmartCtrlprovidesaguidelineandaneasywayofselectingthecrossoverfrequencyandthephase marginthroughtheSolutionMap.ClickontheSetbutton,andtheSolutionMapwillbeshownas below.

Foravoltagedivider,onemustenterthereferencevoltage.SmartCtrlwillautomaticallycalculate thesensorgain.Inthisexample,thereferencevoltageissetat2.5V.Thesensorinputdatawindow isthefollowing:

Tocheckthecontrolloopperformance,aloadstepchangeof100%isapplied.ThePSIMsimulation waveformsbelowshowthatthecontrollooprespondswelltothechange,validatingtheSmartCtrl design.

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