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User’s Guide
Powersim Inc.
i
SmartCtrl User’s Guide
Version 2.1.2
May 2014
Copyright © 2009–2014Carlos III University of Madrid, GSEP Power Electronics Systems Group,
Spain.All rights reserved. No part of this manual may be photocopied or reproduced in any form or by
anymeans without the written permission of Powersim and the Carlos III University of Madrid.
Disclaimer
Powersim Inc. (“Powersim”) and the Carlos III University of Madrid make no representation or warranty
with respect to the adequacy or accuracy of this documentation or the software which it describes. In no
event will Powersim and the Carlos III University of Madrid or its direct or indirect suppliers be liable for
any damages whatsoever including, but not limited to, direct, indirect, incidental, or consequential
damages of any character including, without limitation, loss of business profits, data, business
information, or any and all other commercial damages or losses, or for any damages in excess of the list
price for the license to the software and documentation.
Powersim Inc.
email: info@powersimtech.com
http://www.powersimtech.com
Table of Contents
1.1 Why SmartCtrl? 1
1.2 Program Layout 3
2.1 File Menu 5
2.2 Design Menu 6
2.3 View Menu 6
2.4 Window Menu 8
2.5 Tools Menu 8
2.6 Main Toolbar 8
i
CHAPTER 4: DESIGN A GENERIC TOPOLOGY 39
ii
CHAPTER 9: COMPENSATORS 83
iii
14.1.4 Export Global. 125
14.1.5 Export waveforms 127
iv
Introduction
Chapter 1: Introduction
SmartCtrl 1
Introduction
Real time updated results of the frequency response (bode plots), transient
response and the steady state waveforms.
Possibility of importing and exporting any transfer function by means of .txt
files.
2 SmartCtrl
Introduction
SmartCtrl 3
Introduction
and export files, establish the printer setup and the print options.
Design SmartCtrl libraries, modification of input data, access to the digital
not.
Window Functions to create, arrange and split windows.
2. The Main Toolbar provides quick access to the most commonly used program
functions through left click on the respective icon.
3. The View Toolbar icons allows the user a quick selection of the elements
displayed.
4. The Status Bar summarizes the most important parameters of the open loop
control design (cross frequency, phase margin and attenuation at the switching
frequency).
5. The compensator Design Method Box includes the three calculation methods of
the compensator as well as the Solution Map.
6. Graphic and text panels include the most relevant information of the system:
frequency response, polar plot, transient response, input data and the designed
regulator components. To access the help topic regarding each panel just right
4 SmartCtrl
Main Menus and Toolbars
Print preview Preview the printout of any of the graphic and text panels (
Transfer function magnitudes (dB), Transfer function phase (º),
Nyquist diagram, Transients, Data input, Results)
SmartCtrl 5
Main Menus and Toolbars
Print Print any of the panels of the main window (bode plots,
Nyquist diagram, transient, input data or results)
Printer setup Setup the printer
Exit Exit SmartCtrl program
6 SmartCtrl
Main Menus and Toolbars
SmartCtrl 7
Main Menus and Toolbars
Generate report
8 SmartCtrl
Main Mennus and Too
olbars
View
w documentt comments
DC-D
DC convertter - Single loop
l
DC-D
DC convertter - Peak Current Modde Control
DC/D
DC - Average Current Mode Conttrol
Moddify data
Tile w
windows
View
w input dataa
Sm
martCtrl 9
Main Menus and Toolbars
10 SmartCtrl
Main Mennus and Too
olbars
2.7.1
1 SmartCtrl additio
onal transffer functio
ons
All tthose transsfer functioons coloredd in grey are a not allowed for tthe design.. The
nomeenclature off the transfeer functions is as follow
ws:
SmartCtrl 11
Main Menus and Toolbars
Gtivi Closed loop Input voltage to inductor current or diode current transfer
function
Gtiio Closed loop Output current to inductor current or diode current transfer
function
L Zo
Io
Vin C R Vout
‐
d
v Load resistor is included within de output impedance transfer
Gvio o
io function
12 SmartCtrl
Main Menus and Toolbars
L
Io
+
Ra
Vout
Vin C R
Rb
‐
+ Vref
vo
Gtvio Closed loop Output impedance transfer function
io
SmartCtrl 13
Main Menus and Toolbars
14 SmartCtrl
Design a preddefined topo
ology
Cha
apter 3: Dessign a prredefine
ed topollogy
3.1 DC‐DC C
Converte
er ‐ Single
e loop
3.1.1
1 Single L
Loop
The single loopp is formeed by threee different transfer fu
unctions: pllant, sensorr and
comppensator, whhich must be
b selected ssequentially
y.
The first step too define the system is tthe selection n of the plaant.The plannt can be eitther a
pre-ddefined onee or a userr own one. This is, th he user can n import a generic traansfer
functtion by meaans of a .txt file or selecct one of thee pre-defineed topologiees.
SmartCtrl 15
Design a predefined topology
Once the plant has been selected, regardless the magnitude to be controlled is voltage or
current, the program will display the appropriate type of sensor.
Compensator types:
Type 3
Type 3 Unattenuated
Type 2
Type 2 unattenuated
PI
PI unattenuated
Single Pole
Single Pole
unattenuated
16 SmartCtrl
Design a preddefined topo
ology
3.2 DC‐DC C
Converte
er ‐ Peak C
Current M
Mode Control
The im
mplementattion of the peeak current m
mode contro
ol includes fivve different eelements wh
hich
are described alo
ong the follow
wing paragraaphs:
DC/DC converter
c (p
pre-defined topologies)).
Current sensor (imp
plemented bby means off a resistor).
Modulattor.
Voltage sensor.
Compennsator.
The program will
w guide you y throughh the param
meterization
n of the diffferent elem
ments,
whicch must be carried
c out sequentially
s y.
The ffirst step to define the system
s is too select the plant
p from an
a existing library.
SmartCtrl 17
Design a predefined topology
Once the plant has been selected, the value of the resistor that implements the current sensor
must be set.
Next, the modulator must be configured (see section 8.1)
18 SmartCtrl
Design a predefined topology
Modulators available:
Modulator (Peak
Current Mode Control).
The last element that must be set is the compensator.
SmartCtrl 19
Design a predefined topology
Regulator types:
Type 3
Type 3 Unattenuated
Type 2
Type 2 unattenuated
PI
PI unattenuated
Finally the user must select the control loop initial characteristics (cross frequency and phase
margin), aided by the Solutions Map. After that, click OK and the program will automatically
show the graphics panels.
20 SmartCtrl
Design a predefined topology
Next, the inner control loop will be configured. This is, the current sensor and the
regulator type must be selected.
SmartCtrl 21
Desiggn a predeffined topology
Regulator
R tyypes:
Typee 3
Typee 2
PI
Singlle Pole
Oncee the cross frequency and the ph ase margin have been n selected, tthe solution
n map
will be shown on the righ ht of the sside of the DC-DC av verage currrent controll data
winddow. If, at any
a time, thhe two aforrementioned d parameterrs need to bbe changedd, just
clickk on the show
wn solution
n map. (See next figuree).
22 SSmartCtrl
Design a preddefined topo
ology
Now
w, the outer loop
l can be defined.Firrst, the voltaage sensor must
m be seleected.
SmartCtrl 23
Desiggn a predeffined topology
Com
mpensator ttypes:
Type 3
Type 3 Unattenuatted
Type 2
Type 2 unattenuateed
PI
PI unatttenuated
Single PPole
Single PPole
unattennuated
As w he inner looop, the crosss frequency and the phhase margin must
well as in thhe case of th
be seelected. Alsso in this caase, the soluution map is availablee to help thee selection of an
stablle solution.
Presss the "Soluttion map (o outer loop)"" button an
nd the soluttion map w
will be displlayed.
Thenn select a pooint just by clicking
c witthin the white area.
It should be rem
marked thatt, due to staability consstraints, the crossover ffrequency of
o the
outerr loop cannot be greateer than the crossover frequency
f of the inner loop. In ord
der to
preveent the sellection of an
a outer looop fc greaater than th he inner looop one, a pink
shadoowed area has
h been inccluded in thhe solutions map of the outer loop..
Oncee the crossoover frequeency and thhe phase maargin have been selectted, the sollution
map will be shoown on the right of thee side of thee DC-DC avverage curre
rent control input
data window. Iff, at any timme, the twoo aforementtioned param
meters needd to be chaanged,
just cclick on the shown solu
ution map. ((See next figure)
24 SSmartCtrl
Design a preddefined topo
ology
Noww accept thhe selected configurattion and co onfirm the design, thhe program m will
autommatically shhow the peerformance of the sysstem in terms of freqquency resp ponse,
transsient responnse.(See Graaphic and teext panels window
w for detailed
d infoormation).
3.4 Power F
Factor Co
orrector
The ppower factoor corrector based on a boost topology has a double
d conttrol loop, fo
ormed
by ann inner currrent loop an
nd an outer vvoltage mod
de loop. Thee double looop setup muust be
built sequentiallly. The program will gguide you tot build it, enabling thhe followingg step
and kkeeping eveerything elsee disabled.
The aavailable pllant is a booost converteer. The outeer loop is a voltage
v modde control, while
the innner loop iss a current controlled
c onne, and the current is sensed on thhe inductancce.
The ffirst step chhooses betw
ween the twoo types of multiplier
m an
nd Vrms feeed-forward:
Multiplieer: It corressponds by deefault the Hall
H Effect resistance H
H(s).
UC38544A Multiplieer: It correspponds by deefault the cu
urrent sensoor resistancee
R(s).
SmartCtrl 25
Design a predefined topology
Depending on the first choice, there are two different options to generate the power
factor corrector.
If the selection is a Generic Multiplier, the current is sensed by the Hall Effect sensor
H(s).
Otherwise, if the selection is UC3854A multiplier, the current sensor is a resistor Rs.
26 SmartCtrl
Design a predefined topology
It is followed by the choice of the plant. The predefined plants are the following:
Boost PFC (Resistive load)
Boost PFC (Constant power load)
Next, the inner control loop will be configured: since the current sensor has been
already configured, it is necessary to select the inner loop compensator.
SmartCtrl 27
Desiggn a predeffined topology
Com
mpensator tyypes:
Type 3 (It
( is only av
vailable for Multiplier option)
Type 2
PI
Oncee all the innner loop traansfer functtions have been
b defineed, the crosssover frequ
uency
and tthe phase margin
m musst be selectted. Under the name ofo Solution Map, SmaartCtrl
proviides the staable solutionn space in which all thhe possiblee combinatioons of crosssover
frequuency and phase
p marg a shown ggraphically. Just
gin that leadd to stable solutions are
clickking on the "Solutions map (innerr loop)" buttton the solu ution map ccorrespondiing to
the innner loop iss displayed.
28 SSmartCtrl
Design a preddefined topo
ology
Oncee the crossoover frequeency and thhe phase maargin have been selectted, the sollution
map will be shhown on the right of the side off the PFC Boost convverter inputt data
winddow. If, at any
a time, th he two aforrementioned d parameterrs need to bbe changed
d, just
clickk on the show
wn solution
n map. (See next figuree).
Now
w, the outer loop
l can be defined. Fiirst, the volttage sensor must be sellected.
The vvoltage sensors availab
ble are the ffollowing:
For Multtiplier optio
on:
o Isolate V sen
nsor
For UC33854A Multtiplier optioon:
o Voltage
V Div
vider
o Embedded
E Voltage
V Divvider
SmartCtrl 29
Design a predefined topology
Compensator types:
As well as in the case of the inner loop, the crossover frequency and the phase margin
must be selected. Also in this case, the solution map is available to help the selection of
a stable solution.
Press the "Solution map (outer loop)" button and the solution map will be displayed.
Then select a point just by clicking within the white area.
30 SmartCtrl
Design a preddefined topo
ology
It should be rem
marked thatt, due to staability consstraints, the crossover ffrequency of
o the
outerr loop cannot be greateer than the crossover frequency
f of the inner loop. In ord
der to
preveent the sellection of an
a outer looop fc greaater than th he inner looop one, a pink
shadoowed area has
h been inccluded in thhe solutions map of the outer loop..
Oncee the crossoover frequeency and thhe phase maargin have been selectted, the sollution
map will be shoown on the right of thee side of thee DC-DC av rent control input
verage curre
data window. Iff, at any timme, the twoo aforementtioned param
meters needd to be chaanged,
just cclick on the shown solu
ution map. ((See next figure)
SmartCtrl 31
Desiggn a predeffined topology
Noww accept thhe selected configurattion and co onfirm the design, thhe programm will
autommatically shhow the perrformance oof the system
m in terms of frequenccy responsee, line
curreent shape... (See Graph
hic panels w
window for detailed
d info
ormation).
Oncee the designn has been generated,
g ttwo possiblle warning messages ccan appear in
i the
soluttion map wiindow:
In the caase of a sing
gle pole commpensator in n the outer loop,
l whichh is a typicall
compenssator for pow wer factor ccorrectors, the
t gain at low frequenncy may be low.
A warninng appears when
w the esstimated Vo o (shown in the methodd panel) difffers
from thee specified one
o in more than 10%.IIn these cases, a compeensator with ha
higher gain at low frequency
f iss recommen nded.
The line current wav veform is c alculated asssuming thaat the currennt loop follo
ows
perfectlyy well the reeference gennerated by the
t outer looop. Howeveer, in some
occasionns there is a zero-cross distortion and
a the actual line curreent would differ
d
from thee one represented. In thhese cases, a warning message
m apppears. The crross-
frequenccy of the innner loop commpensator should
s be in
ncreased to m minimize th his
problem.
In thhe method panel,
p additiional inform
mation is prrovided both
h for the innner loop an
nd the
outerr loop:
Attenuattion (fsw)(ddB). This is the attenuattion in dB achieved
a byy the open looop
transfer function at the switchinng frequenccy. It should
d be low forr the inner loop
and the outer
o loop.
Attenuattion (2fl)(dB
B) . This is tthe attenuattion in dB achieved
a by the open lo
oop
transfer function at twice the linne frequenccy (100 Hz or 120 Hz).. It should be
b
high for the inner lo
oop and loww for the outter loop.
Estimateed Vo (V). This
T is the eestimated ou utput voltag
ge of the connverter. Thiis
quency gain of the openn loop transfer
parameteer is important becausee, if the freq
function is not high enough, theere will be a steady-staate error andd the estimaated
32 SSmartCtrl
Design a predefined topology
output voltage can be different from the specified output voltage. As mentioned
above, if the estimated Vo (shown in the method panel) differs from the
specified one in more than 10%, there is a warning.
Finally, the flowchart to generate the types of the power factor is the following:
POWER FACTOR CORRECTOR
MULTIPLIER
INNER INNER OUTER OUTER
& Vrms
LOOP PLANT LOOP LOOP LOOP
FEED‐
SENSOR REGULATOR SENSOR REGULATOR
FORWARD
Type 2
Type 2
Boost PFC (Constant power load) Type 3
Multiplier Hall effect sensor Type 3 Isolate V sensor
Boost PFC (Resistive load) PI
PI
Single Pole
H(s)
Type 2
Voltage divider PI
Single Pole
UC3854A Boost PFC (Constant power load) Type 2
Resistive sensor
Multiplier Boost PFC (Resistive load) PI
Regulator Type 2_unatt
Rs
Embedded PI_unatt
Voltage Divider Single Pole_unatt
SmartCtrl 33
Design a predefined topology
Input data
Vin(rms) Input Voltage (V)
RL Equivalent Series Resistor of the Inductance (Ohms)
L Inductance (H)
Rc Equivalent Series Resistor of the output capacitor (Ohms)
C Equivalent Series Resistor of the output capacitor (Ohms)
Vo Output Voltage (W)
R Load Resistor (Ohms)
Po Output Power (W)
wta Line angle(º). The current loop is designed considering the plant
calculated for this operating point. This line angle is indicated as a
red dot in the output panel that represents the Rectified voltage and
external compensator output(See Graphic and text panels window for
detailed information)
FSW Switching frequency (Hz)
Line frequency Line frequency (Hz)
34 SmartCtrl
Design a predefined topology
SmartCtrl 35
Design a predefined topology
3.4.2.3 Rectified voltage and external compensator output
This graphic panel provides information about the external compensator output voltage.
Its phase shift compared to the rectified voltage can be assessed. If the compensator
output voltage has not an appropriate phase shift compared to the rectified voltage
(reference), the line current distortion will increase.
The current loop is designed considering a piecewise linear model of the plant. The
current plant represented in the Bode plot panels (see Graphic panels window)
corresponds to the operating point marked with a red dot in the rectified voltage. The
small signal model for the plant is calculated as in a DC-DC boost converter for this
operating point. This dot can be moved by clicking and dragging with the mouse,
resulting in a variation of the operating point. As the dot changes its position, the Bode
plot corresponding to the inner loop varies, as well as the attenuation information in the
K-factor panel refreshes according to the indicated operating point.
The blue dot in the rectified voltage represents the operating point that corresponds to
the maximum current ripple through the inductor. The graphics in the Oscillator ramp
and internal compensator panel have been represented for this operating point.
36 SmartCtrl
Design a preddefined topo
ology
3.4.3
3 Multipliers
3.4.3
3.1 Multip
plier
Usinng feed-forw
ward:
The m
multiplier has
h the follo
owing param
meters:
KB Gain
G of the current
c referrence for the inner loop
p.
Km Multiplier
M gaain.
And,, when the use
u of feed-forward is sselected:
KFF G
Gain of the feed-forwaard. It is th
he ratio betw
ween the rm
ms input vo
oltage
a the averrage input vvoltage to th
and he multiplier.
1st Ratio
R betweeen the ampplitude of th monic of thhe rectified input
he first harm
m.rip.(%) voltage
harm v and its averagee value.
Km Multiplier
M gain.
g
SmartCtrl 37
Desiggn a predeffined topology
3.4.3
3.2 UC385
54 Amplifie
ers
The U
UC3854A multiplier
m has
h the follow
wing param
meters:
38 SSmartCtrl
Design a ggeneric topo
ology
Cha
apter 4: Dessign a ge
eneric to
opology
y
SmarrtCtrl not only helps the desiigner when n a pre-deefined pow wer convertter is
consiidered, it also allows th
he design off the control loop of an
ny generic cconverter.
To ccarry out thhe design ofo the contrrol when th he plant is not a pre--defined DC C-DC
convverter, the plan
p must bee provided either by means
m of ann s-domain ttransfer fun
nction
or im
mporting thhe plant freqquency respponse from m a .txt file. Dependinng of the deesired
inputt method, thhe designer must selectt between:
s
s-domain mo
odel editor.
Im
mport frequ
uency respoonse data fro
om a .txt filee
SmartCtrl 39
Design a generic topology
40 SmartCtrl
Design a ggeneric topo
ology
To ccheck the gain, phase and rectanggular components of the frequenccy responsee at a
particcular frequuency, the option "Onne frequency" is prov vided. As depicted in n the
following figuree: first "onee frequency"" must be selected, seccondly the ffrequency sh
hould
be sspecified annd finally, click on compile and a the gaain, phase and rectan ngular
compponents at thhe specifiedd frequencyy are shown below.
SmartCtrl 41
Desiggn a genericc topology
When the s-dom main modeel is intendded for Volltage Modee Control (V
VMC), then the
outpuut voltage and the sw
witching freqquency mu
ust be specified. As hiighlighted in
i the
next picture:
42 SSmartCtrl
Design a ggeneric topo
ology
SmartCtrl 43
Design a generic topology
And finally select the cross frequency and the phase margin on the Solutions Map.
44 SmartCtrl
Design a ggeneric topo
ology
To ccheck the gain, phase and rectanggular components of the frequenccy responsee at a
particcular frequuecy, the option
o "Onne frequenccy" is prov vided. As depicted in n the
following figuree: first "onee frequency"" must be selected, seccondly the ffrequency sh
hould
be sspecified annd finally, click on compile and a the gaain, phase and rectan ngular
compponents at thhe specifiedd frequencyy are shown below.
SmartCtrl 45
Desiggn a genericc topology
When the s-dom main modeel is intendded for Currrent Modee Control (C
CMC), then the
curreent to be controlled
c value
v and the switchiing frequen
ncy must bbe specified
d. As
highllighted in thhe next pictu
ure:
46 SSmartCtrl
Design a ggeneric topo
ology
SmartCtrl 47
Design a generic topology
And finally select the cross frequency and the phase margin on the Solutions Map.
48 SmartCtrl
Design a generic topology
The coefficients of the s-domain transfer function have to be introduced. The maximum
order of the transfer function is 10. The coefficients in the numerator are n0 to n10 and
the coefficients in the denominator are d0 to d10.
It is also possible to introduce the transfer function data by using the option Plant
wizard.
Some additional data must be specified:
The frequency range (minimum frequency and maximum frequency) to consider
in Hertz.
The switching frequency (Fsw) in Hertz.
The desired output voltage (Vo) in Volts. (Only if the plant is voltage mode
controlled).
SmartCtrl 49
Design a generic topology
The plant wizard is an assistant that allows to introduce a every coefficient of the
transfer function (n0,n1,…,n10, d0, d1,…,d10) as a symbolic expression.
Global block
The “Global block” corresponds to the definition ofthe variables and expressions that
are common for most coefficients of the transfer function.By clicking on the button
Edit, a new edition box is opened (Edit box), which helps the user to introduce the data
and the equations with the appropriate format.
50 SmartCtrl
Design a generic topology
Coefficients block
By clicking on the button Edit, a new edition box is opened (Edit box), which helps the
user to introduce the data and the equations with the appropriate format.
Once the equations have been introduced, it is recommended to click the button
“Compile”. This way, the numerical value of the coefficient is calculated by means of
the mathematical expression in the return assignment, considering all the variables
previously assigned both in the “Global block” and the “Coefficients block”.
If the compilation is successful, the numerical value of the selected coefficient will be
displayed in the “Value” box. Otherwise an error message will appear.
SmartCtrl 51
Design a generic topology
b. Expressions can use the function sqrt(a), which calculates the square
root of a, and the function pow(a, b), which calculates 'a' raised to 'b'.
c. Expressions can use grouping parentheses.
7. The syntax of the return statements is: return Expr, where 'Expr' represents a
mathematical expression.
8. The overall block can only contain assignment statements.
9. In the “Coefficients block”, each coefficient can have assignment statements,
but it is mandatory to have at least one return statement, which will always be the
last instruction in the block. This return statement defines the mathematical value of
that particular coefficient.
10. Comments can be included as annotations made by the designer in order to
make the text readable. Comments start with the delimiter doble slash ‘//’ and
continue until the end of the line. These annotations are ignored by the compiler.
In the block “All coefficients”, some commands can be executed that affect all
coefficients:
Compile: the numerical values of all the coefficients are calculated. If an error
occurs, a message will be displayed.
Save as: the contents of the “Global block” and the “Coefficients block” are
stored in a file with extension .trowfun.
Load: the data stored in the files with extension .trowfun is loaded. Therefore,
the “Global block” and the “Coefficients block” will be updated with the loaded
information.
View: the content of the “Global block” and the “Coefficients block”, as well as
the numerical value of the coefficients, is displayed in a new window.
All the warning messages are displayed in the “Results” edit box.
Once the “OK” button in pressed, all the coefficients are automatically recalculated. If
an error occurs, a warning message will be displayed. If the calculation is successful,
52 SmartCtrl
Design a generic topology
the coefficient values are displayed in the Plant from s-domain transfer function
window.
SmartCtrl allows the designer to import his own transfer plant function and design an
appropriate control loop. This feature is only available for single loop designs. To
define the imported transfer function the user must specify the intended control type:
Take into account that, wether the imported plant is current mode controlled or voltage
mode controlled, the single loop design process will be the same. The only difference is
related to the available sensors, which are different for each case.
Once the control type has been selected, the file that contains the plant frequency
response must be selected. SmarCtrl is able to load the following file formats: *.dat,
*.txt, *.fra
SmartCtrl 53
Design a generic topology
Once the file has been selected, the data is loaded to SmartCtrl and the magnitude and
phase are displayed as depicted in the next figure.
And some additional data such as the output voltage (only in voltage mode control) and
the switching frequency must be specified.
Click OK to continue.
Depending upon it is a current mode controlled or voltage mode controlled, the
available sensors are the following:
54 SmartCtrl
Design a generic topology
Compensator types:
Type 3
Unattenuated
Type 2
Type 2
unattenuated
PI
PI unattenuated
Single Pole
Single Pole
unattenuated
Once the system has been defined, SmartCtrl calculates the solutions map in which all
the possible combinations of crossover frequency and phase margin that lead to stable
solutions are shown graphically.
To continue, click on set and the solutions map will be displayed. After that, select a
point within the stable solutions area (white area) and then click OK.
SmartCtrl 55
Desiggn a genericc topology
56 SSmartCtrl
Desiign a generiic control sy
ystem
Cha
apter 5: Dessign a ge
eneric ccontrol ssystem
SmarrtCtrl allowws the desig gn of a genneric contro ol system regardless thhe nature of
o the
systeem, since it is possible to define thhe whole sysstem with th
he equationn editor.
SmartCtrl 57
Design a generic control system
To check the gain, phase and rectangular components of the frequency response at a
particular frequency, the option "One frequency" is frequency is provided. As depicted
in the following figure: first "one frequency" must be selected, secondly the frequency
should be specified and finally, click on compile and the gain, phase and rectangular
components at the specified frequency are shown below.
58 SmartCtrl
Desiign a generiic control sy
ystem
Righht afterwards of the plaant definitionn, the samee process is needed to ddefine the sensor
s
transsfer functionn by means of the equaation editor.
SmartCtrl 59
Design a generic control system
And finally, the compensator must be selected to complete the definition of the system
components.
Once the compensator type is set, the Solutions Map will help the user to select the
phase margin and the crossover frequency.
60 SmartCtrl
DC-DC Plants
P
Cha
apter 6: DC‐‐DC Plan
nts
The D
DC-DC avaailable plantts are the foollowing:
Buck
Boost
Buck-Booost
Flyback
Forward
SmartCtrl 61
DC-DC Plants
6.1 Buck
When a single loop control scheme is used, the magnitude to be controlled in a buck
converter can be either the output voltage or the inductance current. Both possibilities
have been included in SmartCrl. If the control technique is peak current mode control,
the current is sensed in the inductor, as shown in the table. The schematics are shown
below.
VoltageModeControlledBuck L‐CurrentSensedBuck
Peak Current Mode Control
In the case of an average current control scheme, two magnitudes must be sensed
simultaneously, a current and the output voltage. The resultant buck scheme is the
following:
Buck (LCS‐VMC)
The input data window allows the user to select the desired input parameters and
provides useful information such as the steady state dc operating point. This information
is placed right below the converter image.
Two examples of the input data window are shown below, in each of them, the white
shadowed boxes correspond to the input data boxes while the grey shadowed ones
correspond to the additional information provided by the program.
Please, note that the input data is different in case of a voltage controlled plant (output
voltage is an input) or a current controlled plant (in this case the current to be controlled
is the input data). An example of the input data windows is provided below:
62 SmartCtrl
DC-DC Plants
P
In
nput Data Window off a Voltage Mode Controlled Bucck
a Window oof a Peak C
Input Data Current Model Controll
D
Duty Cycle ton/T of thee active swittch
SmartCtrl 63
DC-DC Plants
64 SmartCtrl
DC-DC Plants
6.2 Boost
There are three possible magnitudes to be controlled in the boost converter when a
single loop control scheme is selected. This is the output voltage, the inductor current
and the diode current. The corresponding schematics are the following:
Voltage Mode Controlled Boost Converter
L‐current sensed Boost Converter
Diode Current Sensed Boost Converter
In the case of a peak current mode control (PCMC), the output voltage and a current
must be sensed simultaneously.
Boost (PCMC)
In the case of an average current control scheme, the output voltage and a current must
be sensed simultaneously. The available plants for an average current mode control are
included below:
Boost (LCS‐VMC)
Boost (DCS‐VMC)
SmartCtrl 65
DC-D
DC Plants
The input data window allowsa the uuser to sellect the dessired input parameterss and
proviides useful informationn such as thhe steady staate dc operaating point. T
This inform
mation
is plaaced right below
b the co
onverter imaage.
Two examples of o the input data winddow are sho own below, in each off them, the white
shadoowed boxees correspon nd to the iinput data boxes
b while the grey shadowed ones
correespond to thhe additionaal informatioon provided
d by the program.
Pleasse, note thaat the input data is diffeferent in casse of a voltaage controllled plant (o
output
voltaage is an inpput) or a currrent controolled plant (in
( this case the currentt to be contrrolled
is thee input dataa). An examp ple of the innput data windows
w is provided
p bellow:
In
nput Data W
Window of a Voltage Mode Conttrolled Booost
an
nd of a Pea k Current M
Mode Control
In
nput Data W
Window of a Current Mode Conttrolled Booost
66 SSmartCtrl
DC-DC Plants
SmartCtrl 67
DC-DC Plants
6.3 Buck‐oost
In a single loop control scheme there are three possible magnitudes to be controlled in
the buck-boost converter. This is the output voltage, the inductor current and the diode
current. The corresponding schematics are the following:
Voltage Mode Controlled Buck‐Boost Converter
L‐current sensed Buck‐Boost Converter
Diode Current Sensed Buck‐Boost Converter
In the case of an average current mode control scheme or a peak current mode control
(PCMC), the magnitudes sensed are the output voltage and the L current.
Buck‐Boost (LCS‐VMC)
Buck‐Boost (PCMC)
The input data window allows the user to select the desired input parameters and
provides useful information such as the steady state dc operating point. This information
is placed right below the converter image.
Two examples of the input data window are shown below, in each of them, the white
shadowed boxes correspond to the input data boxes while the grey shadowed ones
correspond to the additional information provided by the program.
Please, note that the input data is different in case of a voltage controlled plant (output
voltage is an input) or a current controlled plant (in this case the current to be controlled
is the input data). An example of the input data windows is provided below:
68 SmartCtrl
DC-DC Plants
Input Data Window of a Voltage Mode Controlled Buck‐Boost
and for a Buck‐Boost with a Peak Current Mode Control
Input Data Window of a Current Mode Controlled Buck‐Boost
The parameters shown in the input data windows are defined below:
SmartCtrl 69
DC-DC Plants
70 SmartCtrl
DC-DC Plants
6.4 Flyback
In a single loop control scheme, the magnitude to be controlled in a Flyback converter
can be either the output voltage or the diode current. Both possibilities have been
included in SmartCtrl. The schematics are shown below:
Voltage Mode Controlled Flyback Diode Current Sensed Flyback
In the case of a peak current mode control scheme(PCMC), the magnitudes sensed are
the output voltage and the MOSFET current.
Flyback (PCMC)
In the case of an average current mode control scheme, the magnitudes sensed are the
output voltage and the diode current.
Flyback (DCS‐VMC)
The input data window allows the user to select the desired input parameters and
provides useful information such as the steady state dc operating point. This information
is placed right below the converter image.
Two examples of the input data window are shown below, in each of them, the white
shadowed boxes correspond to the input data boxes while the grey shadowed ones
correspond to the additional information provided by the program.
Please, note that the input data is different in case of a voltage controlled plant (output
voltage is an input) or a current controlled plant (in this case the current to be controlled
is the input data). An example of the input data windows is provided below:
SmartCtrl 71
DC-DC Plants
Input Data Window of a Voltage Mode Controlled Flyback
and also for a Peak Current Mode Control Technique.
Input Data Window of a Current Mode Controlled Flyback
The parameters shown in the input data windows are defined below:
72 SmartCtrl
DC-DC Plants
6.5 Forward
The magnitude to be controlled in a Forward converter can be either the output voltage
or the inductance current. Both possibilities have been included in SmartCrl. The
schematics are shown below:
Voltage Mode Controlled Forward L‐Current Sensed Forward
In the case of a peak current mode control(PCMC) scheme, the magnitudes sensed are
the output voltage and the L current (sensed in the MOSFET).
Forward (LCS‐VMC)
In the case of an average current mode control scheme, the magnitudes sensed are the
output voltage and the L current.
SmartCtrl 73
DC-DC Plants
Forward (LCS‐VMC)
The input data window allows the user to select the desired input parameters and
provides useful information such as the steady state dc operating point. This information
is placed right below the converter image.
Two examples of the input data window are shown below, in each of them, the white
shadowed boxes correspond to the input data boxes while the grey shadowed ones
correspond to the additional information provided by the program.
Please, note that the input data is different in case of a voltage controlled plant (output
voltage is an input) or a current controlled plant (in this case the current to be controlled
is the input data). An example of the input data windows is provided below:
Input Data Window of a Voltage Mode Controlled Forward
and for Peak Current Mode Control.
74 SmartCtrl
DC-DC Plants
Input Data Window of a Current Mode Controlled Forward
The parameters shown in the input data windows are defined below:
Steady-state dc operating point
Conduction Mode It can be Continuous or Discontinuous
Duty Cycle ton/T of the active switch
IL avg Inductance average current (A)
IL max Maximum value of the inductance switching ripple (A)
IL min Minimum value of the inductance switching ripple (A)
Io avg Output average current (A)
Vo Output voltage (V)
Other parameters of the converter
Vin Input Voltage (V)
RL Equivalent Series Resistor of the Inductance (Ohms)
L Inductance (H)
Rc Equivalent Series Resistor of the output capacitor (Ohms)
C Output Capacitor (F)
R Load Resistor (Ohms)
Po Output Power (W)
FSW Switching frequency (Hz)
(*)N2 is the transformer secondary side number of turns.
N1 is the transformer primary side number of turns
SmartCtrl 75
DC-DC Plants
76 SmartCtrl
Seensors
Cha
apter 7: Sen
nsors.
7.1 Voltage
e Divider
The
T Voltagee Divider measures
m and
d adapts thee output voltage
level to the rregulator vo
oltage refereence level.
Its transfer ffunction corrresponds to
o the follow
wing equatio
on:
Vref
K ( s)
Vo
Where:
Vref is thhe compensaator referencce voltage
Vo is thee DC-DC co
onverter outp
tput voltage
7.2 Embedd
ded volta
age divid er
The two resistoors that forrm the volttage dividerr (R11,Rar)) are embeedded withiin the
regullator. So, non sensor is i represent
nted in the correspondding box. A
And the vo
oltage
dividder resistorss are highlig
ghted in the compensato
or figure:
SmartCtrl 77
Sensors
7.3 Isolated
d Voltage
e Sensor
The Isolated vooltage senso or is a volttage sensorr that proviides electriccal isolation. Its
transsfer functionn is described below. IIt is available for the fo
orward and the flyback k DC-
DC ttopologies.
Gain n 20∙lo
og(K)
gain [dB]
K ( s)
s ‐
‐20 dB/dc
1
2· · fpK
f
Where:
F
Freq [Hz]
Gain is thee sensor gaain at 0dB
G B, its
phase [o]
givenn by the output
o and
d the refereence 0o
voltaage. ‐45o /dc
Vo ‐90o
Gainn
Vref
F
Freq [Hz]
fpK is the pole frequency
f in
n Hertz
7.4 Resistiv
ve Sensorr (Powerr Factor C
Correctorr)
If thee current is sensed using a resistoor Rs, the current sensor gain willl be the vallue of
this rresistor: Rs..
K ( s ) Rs
UC385
54A multipliier + Boost PFC
P (resistivee load).
UC3854A
A multiplier + Boost PFC (constant po
ower load).
78 SSmartCtrl
Sensors
G=Rs
7.6 Hall effect sensor
The Hall effect is a current sensor represented through a generic transfer function box.
Internally, its transfer function corresponds to the following equation:
Gain 20∙log(K)
gain [dB]
K ( s)
s ‐20 dB/dc
1
2· · fpK
Freq [Hz]
Where:
phase [o]
0o
Gain is the sensor gain at 0dB. ‐45o /dc
fpK is the pole frequency in Hertz ‐90o
Freq [Hz]
For example, if the current is sensed using a resistor Rs, the current sensor gain will be
the value of this resistor:
K ( s ) Rs
SmartCtrl 79
Sensors
80 SmartCtrl
Modu
ulator
Cha
apter 8: Mod
dulatorr
8.1 Modula
ator (Peak
k Curren
nt Mode C
Control)
From
m top to botttom, the mo
odulator inpput signals are
a defined as
a follow:
Vramp · Is the
V t characteeristic comp pensation slo ope used wiith this typee of
thhis control technique.
t T
This compeensation slop pe is added to the senseed
c
current in orrder to ensuure the systeem stability
y with duty ccycles abov
ve
5
50%.
V
Vsensed · Iss the equivaalent voltagee of the senssed inductorr current.
V · Is the sensed regullator output voltage.
Vc
From
m top to botttom, the mo
odulator dessign criteriaa are defined
d as follow:
S
Sn The inductor
i chaarge slope.
S
Sf The inductor
i disscharge slop
pe.
Se
S Is thee slope of thhe compensation ramp, it is compuuted as funcction
o Sn and S
of
A
Att Is thee attenuationn applied to
o the regulattor output vvoltage.
SmartCtrl 81
Moddulator
8.2 Modula
ator (PWM
M)
The P
PWM moduulator is dissplayed as ppart of the reegulator.
82 SSmartCtrl
Graphic and text panels
Chapter 9: Compensators
Input Data
R11(ohms) Its default value is 10 k
Vp(V) Peak value of the ramp voltage (carrier signal of the PWM modulator)
Vv(V) Valley value of the ramp voltage
Tr(s) Rise time of the ramp voltage
Tsw(s) Switching period
Output Data
The compensator components values (C1, C2, C3, R1, R2) are calculated by the
program and displayed in the corresponding text panel
SmartCtrl 83
Graphic and text panels
Input Data
R11(ohms) Its default value is 10 k
Output Data
The compensator components values (C1, C2, C3, R1, R2) and the resistor Rar are
calculated by the program and displayed in the corresponding text panel
84 SmartCtrl
Graphic and text panels
Input Data
R11(ohms) Its default value is 10 k
Vp(V) Peak value of the ramp voltage (carrier signal of the PWM modulator)
Vv(V) Valley value of the ramp voltage
Tr(s) Rise time of the ramp voltage
Tsw(s) Switching period
Output Data
The compensator components values (C2, C3, R2) and the resistor Rar are calculated by
the program and displayed in the corresponding text panel.
SmartCtrl 85
Graphic and text panels
Input Data
R11(ohms) Its default value is 10 k
Output Data
The compensator components values (C1, C2, C3, R1, R2) and the resistor Rar are
calculated by the program and displayed in the corresponding text panel
86 SmartCtrl
Graphic and text panels
9.1.5 PI compensator
Input Data
R11(ohms) Its default value is 10 k
Vp(V) Peak value of the ramp voltage (carrier signal of the PWM modulator)
Vv(V) Valley value of the ramp voltage
Tr(s) Rise time of the ramp voltage
Tsw(s) Switching period
Output Data
The compensator components values (C2, R2) are calculated by the program and
displayed in the corresponding text panel.
SmartCtrl 87
Graphic and text panels
Input Data
R11(ohms) Its default value is 10 k
Output Data
The compensator components values (C2, R2) and the resistor Rar are calculated by the
program and displayed in the corresponding text panel.
88 SmartCtrl
Graphic and text panels
Input Data
R11 Its default value is 10 k
Vsat Saturation voltage of the op-amp. In the case of the power factor
corrector using a UC3854A multiplier, this value is equal to 6.0 V
Output Data
The compensator components values (C3, R2) are calculated by the program and
displayed in the corresponding text panel.
SmartCtrl 89
Graphic and text panels
Input Data
R11 Its default value is 10 k
Vref Reference voltage. In the case of the power factor corrector using a
UC3854A multiplier, this value is equal to 7.5 V
Vsat Saturation voltage of the op-amp. In the case of the power factor
corrector using a UC3854A multiplier, this value is equal to 6.0 V
Output Data
The compensator components values (C3, R2) and the resistor Rar are calculated by the
program and displayed in the corresponding text panel.
90 SmartCtrl
Graphic and text panels
Input Data
R11 Its default value is 10 k
Output Data
The regulator components values (C1, C2, C3, R1, R2) and the resistor Rar are
calculated by the program and displayed in the correspondingtext panel.
SmartCtrl 91
Graphic and text panels
Input Data
R11 Its default value is 10 k
Output Data
The compensator components values (C1, C2, C3, R1, R2) and the resistor Rar are
calculated by the program and displayed in the correspondingtext panel.
92 SmartCtrl
Graphic and text panels
Input Data
R11 Its default value is 10 k
Output Data
The compensator components values ( C2, C3, R2) and the resistor Rar are calculated by
the program and displayed in the corresponding text panel.
SmartCtrl 93
Graphic and text panels
Input Data
R11 Its default value is 10 k
Output Data
The compensator components values (C2, C3, R2) and the resistor Rar are calculated by
the program and displayed in the corresponding text panel.
94 SmartCtrl
Graphic and text panels
9.2.7 PI compensator
Input Data
R11 Its default value is 10 k
Output Data
The compensator components values (C2, R2) are calculated by the program and
displayed in the corresponding text panel.
SmartCtrl 95
Graphic and text panels
Input Data
R11 Its default value is 10 k
Output Data
The compensator components values (C2, R2) and the resistor Rar are calculated by the
program and displayed in the correspondingtext panel.
96 SmartCtrl
Graphicc and text panels
p
Cha
apter 10
0: Gra
aphic an
nd text p
panels
10.1
1 Bode pllots
The Bode plot is i used to characterize
c ncy responsse of the syystem. It consists
the frequen
of tw
wo differentt graphs, th he gain or m
module plott and the ph
hase plot vversus frequuency.
Frequuency is plootted in a lo
og axe.
ot (dB) Plo
Maagnitude plo ots the maggnitude of a given transsfer functionn in decibels (dB)
versus frequeency. It is reepresented in
i the uppeer left panell of the
Sm
martCtrl winndow.
plot (º) Plo
Phase p ots the phaase of a givven transferr function iin degrees versus
freequency. Itt is represeented in th
he bottom left panel of the
SmmartCtrl winndow.
SmartCtrl 97
Grapphic and texxt panels
In SmmartCtrl theere are seveen different transfer funnctions thatt can be plootted in the Bode
plot. To represennt any of th
hem, just cliick on the correspondin ng icon of thhe View To oolbar
or seelect the corrresponding transfer funnction withiin the View
w Menu.
Man
nual placem
ment of poless and zeross
Addiitionally, when
w a type 3 or type 2 is used, poles
p and zeeros of the compensato
or are
repreesented by means
m of thrree little squuares.
Yellowcorresponds to fz
Red corresponds to fp
Blue corresponds to fi
The pplacement of
o the aforeementioned zeros and poles
p can bee varied by the designeer just
o each squuare. To enaable this option manuaal method ttag in
by cllicking and dragging on
the d
design methhod box must be selecteed.
Crosss frequencyy
The ccross frequeency of the open loop iis shown by
y means of a pair of dasshed lines on
o the
openn loop transffer function
n of the systeem.
Clickk on right button
b
By riight clickingg on each plot a new w
window is op
pened with some additiional option
ns.
Copy Copy de Bode Plot to clipboard
Export This option
n allows exp
porting the data of the all
frequencies response in
i several foormats.
Help Link to thee on-line Sm
martCtrl helpp
Meassurement toools
98 SSmartCtrl
Graphicc and text panels
p
10.2
2 Nyquistt diagram
m
The N Nyquist diaagram, togeether with thhe Bode plo
ots, is a graaphical repreesentation of
o the
frequuency respoonse of a linear system.
For eeach , thee resulting open
o loop ttransfer fun presented ass Im(T) vs R(T).
nction is rep
So, tthe gain at this
t is th
he distance from the represented
r point to thee origin, an
nd the
phasee is the corrresponding angle.
SmartCtrl 99
Grapphic and texxt panels
Zoom
m
A zooom-in and zoom-out tool t has beeen implemeented by lefft-clicking aand draggin ng the
mousse within thhe white areea of the pollar plot. The relative sccale is givenn by the rad
dio of
the oouter circle both
b in dB and
a natural scale.
Copyy to clipboaard
The same way as a in the Bo ode plots annd the transiient responsse plots, a ccopy to clipb
board
optioon is availabble throughh right clickk on the po
olar plot aree that will aallow the usser to
copyy the currentt graph to th
he clipboardd.
Clickk on right button
b
By riight clickingg on each plot a new w
window is op
pened with some additiional option
ns.
Quick Help
Q Shows a shhort explanaations aboutt how to meeasure
directly on
n the plot
100 SmartCtrl
Graphicc and text panels
p
Meassurement toools
Sma
artCtrl 101
Grapphic and texxt panels
10.3
3 Transie
ent respo
onse plot
Trannsient responnse specificcations, suchh as setting time and vo
oltage peak transient vaalues,
are uusually criticcal specificaations whenn designing the control stage of a ppower conv
verter.
Therrefore, proviiding a quicck view to tthe transientt response of
o the conveerter may grreatly
help the designeer during thee design proocess.
In SmmartCtrl thee three mosst significannt transient responses have
h been ddeveloped. They
can bbe plotted just by cliicking on tthe correspo onding icon ns of the V bar or
View Toolb
seleccting the corrresponding
g transient reesponse witthin the Vieew Menu.
102 SmartCtrl
Graphicc and text panels
p
Copyy
This allows the user to copy
y the currennt graphs in the clipboaard
Moddify transien
nt parameteers
This option alloows the usser to custoomize the transient
t response plott as well as
a the
param
meters of thhe computattion algorithhm
SmarrtCtrl makees an autom matic selecttion of thee parameters as the usser modifiees his
desiggn. By rightt clicking on the transiient plot and d selection the Customm option, a set of
slideers are displaayed so thatt the user iss able to cusstomize the settings listted bellow.
Sma
artCtrl 103
Grapphic and texxt panels
104 SmartCtrl
Graphicc and text panels
p
10.4
4 Steady‐state waveform
The "steady-staate waveforrm" panel displays th he most sig gnificant waaveforms of
o the
poweer plant andd the modulaator once thhe steady staate is reacheed.
Power stage wavefforms.
The
T available
e wave formss are:
Induc
ctor voltage
Induc
ctor and diodde current
Output voltage
PWM modulator
m waveforms.
w
The
e available waveforms
w arre:
Vc(t): Modulating
M siggnal
Vcr(t): Compensatin
C ng ramp
Vsensed(t): Sensedd MOSFET
current or inductor ccurrent.
In th
he case of Forward convverter,
Vsill(t) signal is also
a plotted tto show the
outp uctor current..
put filter indu
PWM (V V): MOSFET
T gate
voltage
Sma
artCtrl 105
Grapphic and texxt panels
Measurement ttools
Two different tyypes of curssors are avaailable:
Expo
orting tools
10.5
5 Text pa
anels
Two text panelss are availaable to provvide a comp plete list of the numeriical values of all
the eelements thaat compose the whole ccircuit as weell as some selection p arameter su
uch as
type of regulatorr, type of seensor, etc.
Text panels aree shown thrrough the V
View Menu
u or by cliccking on thhe correspon
nding
buttoons in the main
m toolbar:
View menu
u Main
M tool baar
Icon
n Opens Input Dataa Panel
Icon
n Openss Output Daata Panel
106 SmartCtrl
Graphic and text panels
The Input Data Panel summarizes the input parameters of the converter such as the
power stage parameters, the steady-state dc operating point, the regulator parameters,
etc...
The Output Data Panel shows the numerical information about the design of the
compensator. The regulator resistors and capacitors values as well as the frequencies of
its poles and zeroes, are updated in real time. In addition, the most important loop
characteristics. That is, the phase margin, gain margin and attenuation at the switching
frequency.
The following example shows the text panels contents for a Forward converter with
double loop control. Therefore, input and output information regarding the inner and
outer loop is provided
--------------------------------------
SmartCtrl 107
Graphic and text panels
Phase margin
Plant
Selected phase margin for the open loop gain.
--------------------------------------
(inner loop)
Plant
The type of converter is shown. In the case of double loop
control, the outer loop plant is the inner loop closed loop
transfer function.
INPUT DATA PANEL (Cont I)
Pa (Watts) = 21.0933 m
Pb (Watts) = 65.9166 m
Compensator
The type of outer loop compensator is shown. User´s
input values are shown: Input impedance resistor, R11,
Compensator
the reference voltage, Vref and the error amplifier
saturation voltage are provided.
--------------------------------------
Type 3
Steady-state dc operating point
R11(Ohms) = 10000
The initial conditions for the regulator capacitors are
Vref(V) = 2.5
provided.
Vsat_minimum(V) = 13
108 SmartCtrl
Graphic and text panels
Sensor Sensor
-------------------------------------- The type of inner loop current sensor voltage sensor is
Current sensor shown. In the case of “current sensor”, the sensor gain is
provided.
Gain = 1
SmartCtrl 109
Graphic and text panels
R11i(Ohms)= 10000 voltage value (Vv), rise time (Tr). Gmod is the small
Vp(V) = 3 signal gain of the modulator.
Vv(V) = 1
tr(sec) = 8e-006 Steady-state dc operating point (regulator initial
conditions)
C1 ( F ) = 1.61707 n
C2 ( F ) = 28.7245 p
C3 ( F ) = 17.3479 p Poles and zeroes frequencies
The frequencies of the regulator poles and zeroes are given
accordingly to expression (1).
fz1 ( Hz ) = 6.13625 k
fz2 ( Hz ) = 6.13625 k
s s (1)
1 1
fp1 ( Hz ) = 16.2966 k
2 fz1 2 fz2
R ( s)
fp2 ( Hz ) = 16.2966 k T3 s s s
1 1
fi ( Hz ) = 345.445 k 2 fi 2 fp1 2 fp2
PhF ( Hz ) = 23.6721 k
GM ( dB ) = 11.506
Atte( dB ) = 6.55592
110 SmartCtrl
Graphic and text panels
z-domain coefficients
R1 (Ohms) = 2.32153 k
R2 (Ohms) = 36.6071 k
The Type 3 regulator in z-domain can be expressed as the
following transfer function:
C1 ( F ) = 2.36137 n
C2 ( F ) = 794.811 p
b0 z3 b1 z 2 b2 z b3
R ( z)
C3 ( F ) = 184.518 p T3 a0 z3 a1 z 2 a 2 z a3
fz1 ( Hz ) = 5.47005 k
When a0 = 1, the output y and the input u can be
fz2 ( Hz ) = 5.47005 k expressed by the following difference equation:
fp1 ( Hz ) = 29.0323 k
y n b0 u n b1 u n 1 b 2 u n 2 b3 u n 3
fp2 ( Hz ) = 29.0323 k
fi ( Hz ) = 16.2514 k
a1 y n 1 a 2 y n 2 a3 y n 3
b2 ( s^2) = 8.4656e-010
b1 ( s ) = 5.81914e-005
b0 = 1
a3 ( s^3) = 2.94311e-016
a2 ( s^2) = 1.07374e-010
a1 ( s ) = 9.79329e-006
a0 = 0
Compensator (Digital):
--------------------------------------
b0 = 3.54492
b1 = -2.625
b2 = -3.48438
b3 = 2.68359
a0 = 1
a1 = -1.92383
a2 = 1.13672
a3 = -0.212891
SmartCtrl 111
Graphic and text panels
Ra (Ohms) = 30.3413
Rb (Ohms) = 94.8168
Pa (Watts) = 21.0933 m
Pb (Watts) = 65.9166 m
PhF ( Hz ) = 2.63194 k
GM ( dB ) = -36.5853
Atte( dB ) = 2.73095
112 SmartCtrl
Solutionss Map
Cha
apter 11
1: Solu
utions M
Maps
Boun
ndaries
The bboundaries,, that determ
mine the vaalid area (white area), represent
r thhe maximum
m and
minim
mum phasee margin thaat can be achhieved for any
a kind of compensatoor.
The simpple integrato
or is a parti cular case of
o any regullator, therefo
fore it provides
the loweer PM limit by adding 990 degrees to t the phasee of the openn loop transsfer
function without reggulator (plan
ant, sensor and
a modulattor) (green lline).
The uppeer limit of the solution map is giveen by the maximum
m phhase boost
providedd by each kiind of comppensator (bluue line).
In terrms of frequuency, the solutions
s sppace is limited by the sw
witching freequency, fsww.
Sma
artCtrl 113
Solutions Map
When the first design point has been selected within the “Solution Map”, SmartCtrl
shows its main screen. In the main screen the solutions Map will be shown as a floating
window. The position of this window can be changed by the user by right clicking on
the Solution Map window plus mouse move. Important Warning messages will be
shown in the bottom part of the Solution Map window.
114 SmartCtrl
Equations editor
The definition of the desired transfer function can be carried out by means of the definition of
the algebraic s‐domain transfer function.
First, the user must define the s‐domain transfer function, choosing amongst two different
options:
Import a previous design (click on open)
Define a new transfer function (click on editor). Check the editor rules in the next
chapter.
Additionally, there is a predefined transfer function that can be loaded by clicking on
"set defaults".
Once the equation has been introduced:
Click on "Save" to save the mathematical equations in a text file with extension
.tromod
Click on "compile" to continue Bode plot will appear on the right side of the window.
If desired, the frequency response of the transfer function can be exported as a .txt
file by clicking on "Export transfer function". Afterwards it can be recalled through the
Import (merge) function and displayed in the bode plot graphic panel.
If default option "Bode plot" is selected, the frequency response of the previously defined
transfer function is shown on the right hand side panels.
SmartCtrl 115
Equaations editorr
To check the gaain, phase and rectanggular compo onents of th
he frequenccy response at a
particcular frequeency, the opption "One ffrequency" is provided. As depictedd in the following
figuree: first "one frequency" m must be seleected, secondly the frequ uency shouldd be specifie ed and
finallyy, click on compile
c and
d the gain, pphase and rectangular
r componentss at the spe ecified
frequuency are sho own below.
116 SmartCtrl
Editor box
SmartCtrl 117
Editor box
118 SmartCtrl
Import and export
14.1 Export
which is also available through left click on the icon placed in the main toolbar.
Any of the transfer functions available can be exported to a .txt file. To do that, the
designer must select the function to export within the available list and set the options of
the file in the corresponding dialogue box.
The addressed file is formed by three columns containing the frequency vector, the
module in dB and the phase in degrees respectively.
The file options and characteristics are contained in the "Exporting transfer function
dialogue box" and they are described below:
SmartCtrl 119
Import and export
120 SmartCtrl
Import and export
In the next step, the user will be asked to choose between different options:
SmartCtrl 121
Impoort and expoort
Comp
mpensator exxporting wa
ay
“Compo
onents (R1, C1, ... aree given)”: the schemaatic and paarameters of
o the
compennsator will be exporteedwith an analog im mplementatiion (Operattional
amplifieer and passsive compponents) lik ke in the following example.C Check
“simulattion issues”” in this seection in orrder to get some tips to speed up
u the
PSIM siimulations.
122 SmartCtrl
Im
mport and export
e
“z-domaain coefficieents”: the scchematic and parameterrs of the com mpensator will
w
be exporrted in the form
fo of a z-ddomain tran nsfer functioon. Thereforre it is neceessary
to configgure the "Diigital Settinngs" before selecting
s the z-domainn format for
exportatiion to PSIM
M.Besides thhe z-domain transfer fu unction thatt represents the
digital coompensatorr, additionall blocks are added:
o T
Time-delay block: it reppresents thee accumulated delay off the controll loop
m
minus the tim
me delay coorrespondin ng to the mo
odulator, i.e.., the ADC delay
a the calcu
and ulations dellay.
o L
Limiter befo
ore the compparator of th he modulato
or which ennsures that the
d
duty cycle iss at least low
wer than 97
7%.
Note: when
w the selected senssor is "Emb
bedded V.d
div." the sschematic isi not
exportedd to PSIM because thhis sensor is especiallly orientedd to the analog
implemeentation with
h componennts.
Sma
artCtrl 123
Import and export
124 SmartCtrl
Im
mport and export
e
Clickk Apply to update the parameterss and OK to continue. At this pooint, the pro
ogram
will aask you the name and location
l of tthe file.
14.1
1.4 Export Global.
From
m the File menu
m it is po
ossible to sellect Export Global.
Sma
artCtrl 125
Import and export
This option allows the user to export to text files different information regarding the
design. Depending on the selected information, the text files will have different names,
shown below the corresponding check boxes.
126 SmartCtrl
Import and export
Any of the waveforms available can be exported to a .txt file. To do that, the designer
must select the signal to be exported within the available list and set the options of the
file in the corresponding dialogue box.
The addressed file is formed by two columns containing the time in seconds and the
current/voltage instantaneous value, respectively.
The file options and characteristics are described below:
SmartCtrl 127
Import and export
File Header It contains the name of the two columns of the file.
Time shift (sec) The user is able to set a customized time shift (in seconds) if
necessary, and the transient response will be translated
accordingly along the time axis.
File Menu and through click on . Itis oriented to the comparison of frequency
response curves (Bode plots).
The file to be merged with the current one can be either a .tro file, a .txt file or a .fra file.
This is, the comparison of the current file results can be compared with the results
previously saved by the SmartCtrl Program, with any transfer function saved in a .txt
format or with a PSIM frequency AC analysis, respectively.
Neither the .tro file or the .fra file need to be formatted in order to be used by the merge
function. However, if a .txt file is going to be used the following considerations must be
taken into account:
The file must be organized in three columns (from left to right)
128 SmartCtrl
Im
mport and export
e
The next steps will guide you to addd, modify or o delete traansfer functtions to/from
m the
compparison, eithher from a .tro file or a .txt file.
11. Merge
You can select the Merge function bboth from th
he File Menu or throuugh left clicck on
from
m the main tooolbar.
Add Add
ds a new traansfer functiion to the co
omparison
odify Mod
Mo
dify the seettings of a previouslly added tr
transfer fun
nction
(chaange color, ffile of origiin...)
elete Deleetestheselecctedfunction
De n
eteall Deleeteallthefunnctions
Dele
A
Apply plythecurrenntsettings
App
ply the curreent settings and close th
OK App he merge w
window
Help Disp
playthehelppwindow
14.2
2.1 Add Fun
nction
The Add functiion to merrge allows the user to
o add a neew transfer function to
t the
compparison.
11. SelecttheeFunctionTy
ype
Sma
artCtrl 129
Impoort and expoort
Where::
G(s) Plant Transfer
Function
K(s) Sensoor Transfer
Fucntion
A(s) = G(s))·K(s)
R(s) Regullator Transffer
Function
K(s)·R(s)
T(s) = A(s))·R(s) Open n
loop transffer function
CL(s) Clossed loop traansfer
function
22. Select thhe color
44. OK
And the transfer function will be added to
t the modu
ule and phaase panels of
o the
Bode Ploots.
130 SmartCtrl
Im
mport and export
e
14.2
2.2 Modify Function
The Modify funnction allow ws the userr to Modify y the settin
ngs of a preeviously merged
transsfer functionn (change co
olor, file off origin...)
11. Select thee Function too be modifiedd
33. Modifyseettings
Sma
artCtrl 131
Impoort and expoort
The
T user is able to moddify
the
t followinng parameteers:
Loadd a new filee
Chanange the tracce
coloor
However,
H iff the user
modifies
m thee function type,
t
a new file m
must be load ded
132 SmartCtrl
Design meethods
Cha
apter 15
5: Dessign Metthods
Two change thee considereed cross freequency an nd the phasee margin, tthe designeer can
eitheer change thheir values in
i the whitee-coloured boxes,
b use the
t sliders oor just click
k on a
different point within
w the so
olutions maap.
Sma
artCtrl 133
Desiggn methodss
15.1
1 K‐factorr Method
d
The K factor allow the dessigner to chhoose a partticular open n loop crosss-over frequuency
and pphase margin, and then n determinee the necesssary componnent values to achieve these
resullts. In SmarttCtrl, the reegulator com
mponent vallues are disp
played withhin theresultts text
panel.
The two input parameters of the K factor (fc, PM) can be
b easily chhanged in the
t K
methhod tag of thhe design method
m box.
134 SmartCtrl
Design methods
So, the maximum open loop phase boost is achieved at frequency f, and it is assumed
that the regulator is designed so that the open loop cross-over occurs at frequency f also.
K factor for Type 2 regulator
A Type 2 regulator is formed by a single zero, a single pole and a low frequency pole.
When a Type 2 regulator is selected the pole and the zero are placed as follows:
f
The zero is placed at
K
The pole is placed at f ·K
Where the K factor is defined as the square root of the ratio of the pole frequency to the
zero frequency andf is the geometric mean of the zero frequency and the pole frequency.
The maximum phase boost from the zero-pole pair occurs at frequency f, and it is
assumed that the regulator is designed so that the open loop cross-over occurs at
frequency f also.
SmartCtrl 135
Desiggn methodss
In thhe same wayy as the K method, whhen the Kp plus tag is selected,
s thee user can easily
e
channge the input parametters, phase margin an nd cross-ov ver frequenccy And alsso an
addittional param
meter, Kpluss, which corrresponds to
o the aforem
mentioned ““α” factor.
15.3
3 Manuall
This method alllows placingg poles andd zeroes ind
dependentlyy from eachh other. It iss used
whenn the desiggner would like to reffine the ressults obtain
ned from thhe K and KplusK
methhods or wheen these auto
omatic methhods do nott provide a valid
v solutioon.
The manual meethod is provided for bboth the typ
pe 3 and typ pe 2 regulat
ators. Their poles
and zeroes freqquencies can
n be variedd by directlly dragging
g and droppping them ini the
Bodee plots.
Or tyyping the frequencies
f of poles aand zeroes in corresp
ponding inpput boxes of
o the
desiggn methods box.
136 SmartCtrl
Design methods
15.4 PI tuning
The PI tuning method input parameters are the same as in the K-factor method:
Phase margin
Cross-over frequency
From these two input parameters, SmartCtrl calculates the both the proportional (Kp)
and integral (Kint) gains and shows them in the corresponding output boxes.
The same as in the other automatic calculation methods, the phase margin and cross-
over frequency can be set directly by clicking in the solutions map.
Additionally, there is a Kp and Ti Solution Map that allows the tuning of the PI
regulator by directly tuning its parameters Kp and Ti.
A Proportional Integral controller(PI) is defined by the following transfer function:
SmartCtrl 137
Desiggn methodss
15.5
5 Single P
Pole tunin
ng
The I tuning meethod is the equivalent oof the manu b for integgral regulattors.
ual method but
The simple integrator is formed by a single pole, which freq quency musst be selected by
the ddesigner. Given
G this frequency,, the assocciated phase margin iis automatically
calcuulated by the program.
138 SmartCtrl
Parametric sweep
The parametric sweep can be accessed either through the Data Menu or the View
Toolbar icons. The SmartCtrl program distinguish among two different parametric
sweeps:
the button , placed within the View toolbaror through the Data Menu > Parametric
Sweep > Input parameters.
The functions available within the input parameters parametric sweep are the following:
Loop to be modified Select which loop would you like to modify. This
option is only available in the case of a double
loop design, where the designer can select
amongst the inner loop or the outer loop
Tick box "calculate regulator" When this box is selected, the regulator is
recalculated for each new set of parameters along
the parametric sweep. If it is not selected, the
regulator is fixed to the last one calculated
SmartCtrl 139
Parametric Sweep
Tag "General Data"
The parameters to be varied are related to the
open loop parameters. The designer is asked
to provide a range of variation. The available
parameters are:
Cross Frequency (Hz)
Tag "Plant"
140 SmartCtrl
Parametric sweep
Tag "Sensor"
Two different sensor are available for variation. The voltage divider and the Hall effect
sensor. The parameter to be varied in the voltage divider is its voltage gain (Vref/Vo). In
the case of the Hall effect sensor there are to available parameters: its gain at 0Hz and
the pole frequency.
SmartCtrl 141
Parametric Sweep
Tag "Compensator"
142 SmartCtrl
Parametric sweep
the button , placed within the view toolbar or through the Data Menu > Parametric
Sweep >Compensator components.
The compensator components parametric sweep is oriented to the variation of the
resistances and capacitances values that conform the regulator. The parametric sweep is
available for Type 3 and Type2 regulators. For instance, in the figure below a
parametric sweep window for a type 2 is shown.
SmartCtrl 143
Parametric Sweep
144 SmartCtrl
Digital co
ontrol
Cha
apter 17
7: Dig
gital con
ntrol
The D
Digital conttrol feature is only avaiilable in thee SmartCtrl 2.0 Pro
17.1
1 Introdu
uction to Digital C
Control
Digittal control module of SmartCtrrl allows calculating
c the coefficcients of digital
d
comppensators inn order to be implem
mented by means
m of digital
d deviices (as specific
hardwware in FPGA or ASIIC, or as a program in
n a microprrocessor, mmicrocontrolller or
DSP)).
Digittal regulatoors are obtaained by diiscretization
n of analog
g compensaators, which are
calcuulated follow
wing the an
nalog approaach of SmarrtCrtl.
Three specifics factors are taken
t into aaccount on digital
d contrrol calculatiions:
Sampling frequency
y of the reguulator.
Number of bits to reepresent in ffixed point the coefficiients of the obtained
compenssators.
Overall time
t delay in
i the controol loop.
It is a good pracctice to com
mpare the diiscretized compensator
c r with the ooriginal analogue
one.
17.2
2 Digital S
Settings
When starting the calculaations of ddigital regu ulators, threee specific parameterrs are
requiired: sampliing frequency, bits num
mber and acccumulated delay(s).
Sma
artCtrl 145
Digital control
146 SmartCtrl
Digital co
ontrol
tpwm
m=DutyCyccle/fsw + (fssw/fsamp-1))/2/fsw if fsamp<
<fsw
17.3
3 Parame
etric sweep in diggital control
The three specific parametters of digiital regulato
ors can be swept:
s samp
mpling frequ
uency,
numbber of bits and
a accumuulated time ddelay.
A waarning box informs thee user abouut limit cyclling. From the four coonditions off limit
cycliing referredd in the tech
hnical literatture [1], [2]], the two depending ollny the regu
ulator
calcuulation are considered.
c
Sma
artCtrl 147
Digittal control
[1] A
A.V.Peterchhev, S.R.San
nders, “Quaantization reesolution an
nd limit cyccling in dig
gitally
contrrolled PWMM converterrs,” IEEE TTransactionns on Poweer Electroniics, Volum me 18,
No.1, Jan. 2003, pp.301-30
08
[2] H
H.Peng; D.M Maksimovicc, A.Prodic,, E.Alarcon
n, “Modelin
ng of quantiization effects in
digitaally controllled DC-DC
C converterss,” IEEE PE
ESC 2004, pp.4312-431
p 18.
17.4
4 Simulattion issue
es with d
digital con
ntrol
When a digital controller design is e xported to PSIM in order to be simulated, some
consiiderations should
s be taken
t into account. Inn some cases there m may appear some
probllems with the start of the
t converteer. One possible solutio on to be useed it to incllude a
limitter block just after the z-domain bblock, whicch values arre in the casse of singlee loop
contrrol (see nexxt figure):
• Upper lim
mit: 0.97*V
Vp-Vref
• Lower limit: -Vref
148 SmartCtrl
Digital control
In the case of double loop control, this additional limiter can be added both in the inner
control loop and/or in the outer control loop. In the case of the outer control loop de
limits suggested for the limiter are:
• Upper limit: 5-Vref
• Lower limit: -Vref
In the case of inner control loop, the reference is not fixed. It is suggested to start with
these limits:
• Upper limit: 0.97*Vp
• Lower limit: -5
SmartCtrl 149
Digital control
150 SmartCtrl
Frequency settings
SmartCtrl 151
Frequency settings
152 SmartCtrl
Layout settings
SmartCtrl 153