Another Compensator Design Example

Power stage parameters

iL(t) Iout

+ L + • Switching frequency:
+
fs = 1MHz
Vg C R vo
–
• Vref = 1.8 V
_ _

Dead-time control
• Iout = 0 to 5 A

fs = 1 MHz _
• Vg = 5 V
duty-cycle
command
PWM Compensator
error
+
• L=1 H

1/VM Gc((s)) + • RL = 30 m
Vref
• C = 200 F
Point-of-Load Synchronous Buck Regulator
• Resr = 0.8 m
• VM = 1 V
• H=1
ECEN5797
 Buck Averaged Small-Signal Model
Vg d
RL L iL vˆo
Gvd ( s )
dˆ
+
Resr s
1
vg + D iL + D vg R v
– – Gvd ( s ) Vg esr
2
Io d C 1 s s
– 1
Q o o

Pair of poles: Low-frequency gain

(including PWM gain):
1
fo 11 kHz 1
2 CL Gvdo 5 14dB
VM
L/C R
Qloss 2.3 7.2 dB Qload 5
Resr RL L/C
ESR zero:
Qloss Qload 1
Q Qloss || Qload 2.3 7.2 dB f esr 1 MHz
Qloss Qload 2 CResr

ECEN5797

ECEE Department, University of Colorado, Boulder

 Uncompensated loop gain Tu
iL(t) Iout

+ L +

+ C R
– Vg vo

_ _
Gvd(s)
Dead-time control
Hsense = 1
fs = 1 MHz
duty-cycle _ (in this
command error example)
PWM Compensator +
+
1/VM Gc(s) = 1 Vref

Tu(s) = Hsense(1/VM)Gvd(s)
Plot magnitude and phase responses of Tu(s) to plan how to design Gc(s)

ECEN5797
 Magnitude and phase Bode plots of Tu
80dB

60dB Tu(s) = Hsense(1/VM)Gvd(s)

40dB

20dB Tuo Gvdo (1 / VM ) H sense 5 14dB Q 2.3 7.2dB

fo 11kHz
0dB
40dB/dec
2
-20dB
fo
Tuo
10 1 / 2Q
fo fc
0o

t
target
t fc
20dB/dec

f esr 1MHz -90o

10 1 / 2Q
fo 1 / 10 f esr

-180o
10 Hz 100 Hz 1 KHz 10 KHz 100 KHz 1 MHz
ECEN5797

ECEE Department, University of Colorado, Boulder

 Magnitude and phase Bode plots of Tu
Uncompensated loop gain, Tu = Gvd*Hsense*(1/VM) Exact magnitude and
phase responses
50 (MATLAB)

magnitude [db] 0
Target cross-over
-50 frequency
fc = fs/10 = 100 kHz
-100
3 4 5 6
10 10 10 10

0
phase [deg]

-100 No phase margin:

a lead (PD)
-200 compensator is
required
3 4 5 6
10 10 10 10
frequency [Hz]
ECEN5797
 Lead (PD) compensator design
fc 100 kHz
1. Choose:
m 53o

2. Compute:

33 kHz

300 kHz

3. Find Gco to position the crossover frequency:

2 2
fo fp 1 fc fz
Tuo Gco 1 Gco 5.45 15 dB
fc fz Tuo fo fp

Magnitude Magnitude
of Tu at fc of Gc at fc
ECEN5797

ECEE Department, University of Colorado, Boulder

 Lead (PD) compensator summary

s Gco 5.45 15 dB
1
z 1 fz 33 kHz
Gc ( s ) Gco
s s
1 1 f p1 300 kHz
p1 p2
fc 100 kHz (=1/10 of fs)
Lead HF pole
compensator

High-frequency gain of the lead compensator: Gco fp1/fz = 49 (34 dB)

Added high-frequency pole: f p 2 1 MHz (= fesr = fs in this example)

Practical implementation would require an op-amp with a gain

bandwidth product of at least 49*fp2 = 49 MHz

ECEN5797
 Loop gain with lead (PD) compensator
80dB

s
60dB 1
z 1
Gc ( s ) Gco
40dB
s s
Tuo Gco 28.7 29.7dB 1 1
p1 p2

20dB

fc 100 kHz
0dB

-20dB
fz 10kHz fz 33kHz fp 300 kHz

0o

-90o

m 53o
-180o
10 Hz 100 Hz 1 KHz 10 KHz 100 KHz 1 MHz
ECEN5797
 Add lag (PI) compensator

Integrator at low frequencies

Choose 10fL < fc so that phase margin stays approximately the same: fL = 8 kHz
Keep the same cross-over frequency: Gc Gco Gcm 5.45 15 dB

ECEN5797
 Adding PI Compensator
80dB

60dB

40dB

20dB
fL 8kHz fc 100 kHz
0dB

-20dB

0o
10 f L

1 / 10 f L

-90o
PI compensator phase

m 53o
-180o
10 Hz 100 Hz 1 KHz 10 KHz 100 KHz 1 MHz
ECEN5797
 Complete analog PID compensator: summary

Gcm 5.45 15 dB
fL 8 kHz
fz 33 kHz

f p1 300 kHz

f p2 1 MHz

Crossover frequency: f c 100 kHz (=1/10 of fs)

Phase margin: m 53o

ECEN5797
 Magnitude and phase Bode plots of T
80dB

60dB

40dB

20dB
fc 100 kHz
0dB

-20dB
Phase of uncompensated Tu
0o

Phase of compensated T
-90o

m 53o
-180o
10 Hz 100 Hz 1 KHz 10 KHz 100 KHz 1 MHz
ECEN5797
 Verification: exact loop gain magnitude
and phase responses (MATLAB)
Loop Gain
50

fc 105 kHz

magnitude [db]
0

-50

-100
0 3 4 5 6

-50
phase [ deg]

-100 m 51.6 o
5
-150
-200
-250
3 4 5 6
10 10 10 10
frequency [Hz]

ECEN5797
 Verification of closed-loop responses

Closed-loop reference-to-output response

Closed-loop output impedance

and step-load transient response

ECEN5797
 Construction of closed-loop T/(1+T) response
80dB

60dB
Closed-loop reference-to-output
response v/vref = T/(1+T)
40dB

20dB
||v/vref||
0dB

-20dB
Closed-loop BW fc
-40dB

-60dB

-80dB

10 Hz 100 Hz 1 KHz 10 KHz 100 KHz 1 MHz

ECEN5797
 Closed-loop reference-to-output response
Reference-to-output response
50

||v/vref||
0
T/(1+T) [db]

-50

-100
3 4 5 6
10 10 10 10

ECEN5797
 Small-signal step-reference response
1.82 10 mV step
vo(t) 1.8 (1.79 V to 1.8 V)
1.78
in vref
4.8 5 5.2 5.4 5.6 5.8 6 6.2 6.4 6.6 6.8
-4
x 10

5
iL(t)
0
4.8 5 5.2 5.4 5.6 5.8 6 6.2 6.4 6.6 6.8
-4
x 10

0.5
d(t)
0
4.8 5 5.2 5.4 5.6 5.8 6 6.2 6.4 6.6 6.8
-4
20 s/div x 10

ECEN5797
 Small-signal step-reference response
1.82 10 mV step
vo(t) 1.8 (1.79 V to 1.8 V)
1.78
in vref
4.8 5 5.2 5.41.81 5.6 5.8 6 6.2 6.4 6.6 6.8
-4
x 10
1.805

5
iL(t) 1.8

0
4.8 5 5.2 5.4
1.795 5.6 5.8 6 6.2 6.4 6.6Note:
6.8 duty-cycle
command
x 10
-4
does not
1.79 saturate, response
0.5 correlates very well with
d(t) 1.785 theory based on linear
0 small-signal models
4.8 5 5.2 5.4 5.6 5.8 6 6.2 6.4 6.6 6.8
1.78
4.7 4.72 4.74 4.76 4.78 4.8 4.82 4.84 4.86 4.88
-4 4.9 4.92 4.94 4.96 4.98 5
20 s/div x 10
2 s/div x 10
-4

ECEN5797
 Output impedance

Synchronous buck open-loop output impedance

1
Z out ( s) Resr || RL sL
RL L sC
Resr
Zout
•L=1 H
C • RL = 30 m
• C = 200 F
• Resr = 0.8 m

ECEN5797
 Open-loop output impedance: algebra on the graph
80dB

RL L
60dB Resr
Zout

40dB C

1/ C L
20dB

0dB

-20dB RL 30 m 30.5 dB

-40dB
fo 11 kHz
-60dB

Resr 0.8 m 62 dB
-80dB

-100dB

10 Hz 100 Hz 1 KHz 10 KHz 100 KHz 1 MHz

ECEN5797
 Construction of 1/(1+T)
80dB

60dB

40dB

20dB

0dB

-20dB

10 Hz 100 Hz 1 KHz 10 KHz 100 KHz 1 MHz

ECEN5797
 Construction of closed-loop output impedance
80dB

Z out
60dB
Z out ,CL
40dB
1 T
20dB

0dB

-20dB

-40dB

-60dB

-80dB

-100dB

10 Hz 100 Hz 1 KHz 10 KHz 100 KHz 1 MHz

ECEN5797
 Closed-loop output impedance Zout,CL
80dB

60dB Z out
Z out ,CL
40dB 1 T
20dB

0dB

-20dB

-40dB
8 m , -42 dB

-60dB

-80dB

-100dB || Z out ,CL ||

10 Hz 100 Hz 1 KHz 10 KHz 100 KHz 1 MHz

ECEN5797
 Verification: closed-loop output impedance
Output impedance
50

Output impedance [dbOhm]

0
open-loop
|| Z out ||

-50
closed-loop
l dl
|| Z out ,CL ||

-100
3 4 5 6
10 10 10 10

ECEN5797
 Step-load transient responses

1.82 2.5-5 A step-load

vo(t) 1.8 transient
1 78
1.78
4.8 5 5.2 5.4 5.6 5.8 6 6.2 6.4 6.6 6.8
-4
x 10

5
iL(t)
0
4.8 5 5.2 5.4 5.6 5.8 6 6.2 6.4 6.6 6.8
-4
x 10

0.5

d(t)
0
4.8 5 5.2 5.4 5.6 5.8 6 6.2 6.4 6.6 6.8
20 s/div x 10
-4

ECEN5797
 Step-load transient responses

1.82

vo(t) 1.8 2.5-5 A step-load

transient
1.78
4.8 5 5.2 5.4 5.6 5.8 6 6.2 6.4 6.6 6.8
1.81 -4
x 10

1.805
5
iL(t)
1.8
0
4.8 5 5.2 5.4 5.6 5.8 6 6.2 6.4 6.6 6.8
1.795 -4
x 10

1.79
0.5 v 15 mV
d(t) 1.785 10 s settling
0 time
4.8 5 5.2 5.4 5.6 5.8 6 6.2 6.4 6.6 6.8
1.78
20 s/div 4.7 4.72 4.74 4.76 4.78 4.8 4.82 4.84-44.86 4.88 4.9 4.92 4.94 4.96 4.98 5
x 10 -4

2 s/div x 10

ECEN5797