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ANewModelingMethodandController
DesignforaDCDCZetaConverter
ElshanDavaranHagh1,EbrahimBabaei*2,LeilaMohammadian3
FacultyofElectricalandComputerEngineering,UniversityofTabriz,Tabriz,Iran
*CorrespondingAuthor:ebabaei@tabrizu.ac.ir
Abstract
Inthispaper,anewmethodbasedonsignalflowgraphtechniqueandMasonsgainformulaareappliedtomodeladcdcZeta
converter. The model is the transfer functions from control to output and from input to output. Zeta converter is a rather
complexsystem,whichhasfourpassiveelementsandmayperformineitherbuckorboostoperatingmodes.Comparedwith
other converters in the same group, such as Cuk and SEPIC converters, the dynamic modelling and analysis of the Zeta
converterhavebeennotreportedintheliterature.Formodellingtargetandtogetridofcomplexequationsinmodelling,anew
method based on signal flow graph approach is applied to manipulate the equations. After modelling and doing dynamic
stability analysis in continuous conduction mode, and prove the necessity of a controller design for it. A model based PID
controllerisdesignedfortheconverterandthesimulationresultsarepresentedtoverifythecorrectnessoftheachievedmodel
andmodelbasedcontrollerandthesignalflowgraphperformance.
Keywords
MasonGainFormula;ModelBasedController;Modelling;StabilityAnalysis;SignalFlowGraph;ZetaConverter
Introduction
Nowadays, the dcdc converters have mostly used in many applications such as a power supply in electronic
systems. In the portable devices with the battery, the converter converts the input voltage to the proper output
voltagetouseitbytheelectronicload.Thebatteryvoltagecanvaryinawiderangedependingonachargelevel.
Atthelowchargelevel,itmaydropbelowtheloadvoltage.Thus,tocontinuesupplyingtheconstantloadvoltage,
the converter must be able to work in both stepup and stepdown modes. In this paper, the Zeta converter is
chosentoinvestigate.Zetaconverterisaforthorderdcdcconverterwhichiscapableofbuckingorboostingthe
inputvoltage.Inordertoprovideaninsideviewoftheconvertersaction,andobtaintheneededinformationfor
controllerdesign,modellingplaysanimportantrole[1].
Modellingdcdcconvertersisaneffectivewaytogetopenloopfrequencyresponseandinvestigatethestabilityof
the closedloop systems. Modelling is the first stage for designing compensator or controller circuits. Previous
workspresentdifferentmodelsfordcdcconverters[2].Consideringthatthepowerelectronicconvertersinclude
nonlinearelementslikeswitchesanddiodes,thenmodellingofthemneedslinearization.So,applyingaveraging
and linearization techniques has a special importance. After linearization, the inside model of the system is
extractableandthereforeinvestigatingthefrequencyresponsewillbepossible[35].Modellingdcdcconvertersby
using small signal linearization and averaging techniques cause complexity in the obtained equations. Solving
these equations for basic converters like; buck, boost and buckboost is not a problem, but for high order
converters,dealingwiththemwillbemoredifficult[6].In[78],inordertoderiveamathematicalmodelofadc
dcconverterandstudythetransientstatesofit,acombinationofLaplaceandZtransformshasbeenemployed.A
converterincludingswitchesisanonlinearsystem,butitcanbedecomposedtotwolinearcircuits;oneforonstate
and the other for offstate of the switch. These two linear circuits are illustrated by means of two signal flow
graphs.Compositionoftwosubgraphsbyusingswitchingbranchesreachestothegraphofthewholeconverter.
Switching branches are the only nonlinear parts of the converters. Thus modelling process is limited to the
switching branches. In [9 12], a signal flow graph method has been presented for modelling a dcdc converter,
then by using Masons gain formula any desired transfer function of the system might be extracted and used to
design any proper controller, but the presented graph method gets a sophisticated process to achieve the small
ElectricalEngineeringResearch(EER),Volume3,2015
signal model. The proposed technique in this paper, gives greatly simplified mathematical and graphical
representationofthesystemandisbasedonsignalflowgraphoftheconverter.Thismethodhasgreatadvantage
becauseofsimplicityandbeingcapableofgivinganydesiredtransferfunctionofthesystemtodesignacontroller
foradeterminedvariable.Graphicalmodellingtechniqueisusedforsurveyingnonlinearanddynamicbehaviorof
switchingconverters.Thistypeofconverterhasdifferentconfigurationsandallhavelinearsubsystems[13].The
aim of this paper is to derive the model of the Zeta converter by using the proposed signal flow graph based
method. The openloop system has some disadvantages. For example, the output cannot be compensated or
controlledifthereisavariationordisturbanceattheinput.ForthecaseofZetaconverter,thechangesintheinput
voltageortheloadcurrentwillcausetheconvertersoutputvoltagetodeviatefromthedesiredvalue.Todesigna
proper controller or compensator a good model of the system is needed to investigate the stability by using
differenttools.Oneofthesetoolsisfrequencydomainanalysis[1415].Inordertogetfrequencyresponseofthe
converters,aftermodellingtherootlocusplotsandthefrequencydomainresponseinformofBodemagnitudeand
phasediagramsareachievedandanalyzed.
Manycontrolstrategieshavebeenpresentedtoobtainthedesiredoutputvoltageindcdcconverters.Inpast,the
controllerdesignwasbasedonusingsmallsignallinearization.LinearPIDandPIcontrollersoftheconvertersare
usuallydesignedbyusingstandardfrequencyresponsetechniquesbasedonsmallsignalmodeloftheconverter
by using linear control theories such as ZieglerNichols method, root locus technique, hysteresis method, Bode
plotandetc.TheZieglerNicholsmethodisanexperimentalonethatiswidelyused.
Themaincontributionofthispaperistoderivethemodeloftheconverterusingthepresentedsignalflowgraph
method and then designing a model based controller for the Zeta converter. In this process, by applying the
mentionedsignalflowgraphtechniqueandMasonsgainformula,theinputtooutput,controltooutputtransfer
functionsareobtained.Then,thefrequencydomainresponsesinformofBodemagnitudeandphasediagramsare
achievedand the proper tuned PID controller isdesigned. Atlast, the simulation results based on thepresented
modelingandcontrollingmethodsarebroughttoshowthegoodperformanceandbehaviorofthemodelingand
controlmethods.
vC
vi
iL1
vCi
Ci
iL2
L1
vC
S
L2
vCo
io
vo
Co R
iL2
iL1
vi
vCi
Ci
io
L2
L1
vCo
Co
vo
(a)Thepowercircuit(b)Equivalentcircuitinonstate.
vC
S
iL1
vi
vCi
Ci
L1
iL2
io
L2
vCo
Co
vo
(c)Equivalentcircuitinoffstate.
FIG.1.ZETACONVERTER.
ElectricalEngineeringResearch(EER),Volume3,2015
supposedasaresistor, R .Zetaconvertercanperformtogenerateapositivevoltageoftheinputvoltagewhichcan
belessorhigherthaninput.Theconverteractsintwooperatingmodes,oneofthemisrelatedtoonstateandthe
otheristheoffstateoftheswitch.Figs.1(b)and1(c)illustratetheequivalentcircuitsoftheonstateandoffstate
operatingmodes,respectively.
Extraction of the State Equations
Here, the openloop performance characteristics of the converterare tested. The starting point is the extractinga
mathematicalandanalyticalmodelofthesystem.Themodelisamathematicaldescriptionofthebehaviourofthe
realsystemthatisenoughforperformingstabilitytest.
The state equations are extracted by using kirchhoffs voltage and current laws for the two cases of on and off
states of the switch. These equations are calculated in loops and nodes with just one passive element, so all
obtained equations are first order ones. One of the advantages of this method is in high order circuits, with
increasingtheorderofthecircuitandenergysavingelements,theallextractedstateequationswillbeofthefirst
orderandreducethecomplexityoftheequationsandeasetheanalysis.Thestateequationsareextractedfortwo
operatingmodes.Thefirstmodeiswhentheswitchisonandthediodeisoff,andthesecondmodereferstothe
casethattheswitchisinoffstateandthediodeconducts.ThestateequationsforthecircuitshowninFig.1(b)are
asfollows:
L1
L2
diL1
vi (1)
dt
diL 2
vi vC vo (2)
dt
dvC
iL 2 (3)
dt
vo vCo (4)
Co
dvCo
v
iL 2 o (5)
dt
R
SubstitutingEq.(4)inEq.(5),thefollowingequationisachieved:
dvo
v
iL 2 o (6)
dt
R
Co
Thestateequationsforthecasethattheswitchisoffandthediodeconducts(Fig.1(c))areasbelow:
L1
diL1
vC (7)
dt
L2
diL 2
vo (8)
dt
dvC
iL1 (9)
dt
vo vCo (10)
Co
dvC o
v
iL 2 o (11)
dt
R
SubstitutingEq.(10)inEq.(11),thefollowingequationisachieved:
Co
10
dvo
v
iL 2 o (12)
dt
R
ElectricalEngineeringResearch(EER),Volume3,2015
L1
diL1
dvi (1 d )vC (13)
dt
L2
diL 2
d vi d vC vo (14)
dt
Co
C
dvo
v
iL 2 o (15)
dt
R
dvC
d iL 2 (1 d ) iL1 (16)
dt
Theproductoftwodcvariablesisadconeandtheproductofonedcandoneacvariableisanacvariable,alsothe
productoftwoacvariablesiszero.Thus,Eq.(17)toEq.(20)areobtainedasbelow:
vo
(23)
R
DVi
1 D
(25)
11
ElectricalEngineeringResearch(EER),Volume3,2015
Vo DVi DVC
I L2
DVi
1 D
(26)
Vo
DVi
(27)
R R (1 D)
DI L 2 (1 D ) I L1 (28)
I L1
D
1 D
I L2
Vi D
R(1 D) 2
(29)
1
1
iL 2
vo (32)
Co
RCo
1 D
Vi
D
iL 2
d
iL1 (33)
2
C
C
RC (1 D)
In these equations, there are four variables; vo , iL1 , iL 2 and vC , and two inputs; d and vi . The graph is depicted
forallindependentvariables ( sx , x ) byusingnodesandpathsbetweentwonodes.Inordertoextractthetransfer
functionsfromsignalflowgraph,theMasongainformulawillbeused.
D
L2
vi
D
L1
siL1
1 D
L1
D
C
1 D
C
1
s
iL1
Vi
L1 (1 D )
svC
1
s
DVi
RC (1 D ) 2
D
L2
vC
1
s
siL 2
iL 2
1
Co
svCo
Vi
L2 (1 D )
1
s
1
L2
vo
1
RC o
FIG.2.SIGNALFLOWGRAPHFORZETACONVERTER.
12
ElectricalEngineeringResearch(EER),Volume3,2015
Omitting the path Pi1 , 1 1 is obtained, and omitting the path Pi 2 , 2 1 Loop1 is obtained. Replacing the
obtainedvalues,thetransferfunction vo vi willbeasshowninTable1.Omittingthepath Pd 1 , 1 1 isobtained,
and omitting the path Pd 2 , 2 1 is obtained. Also, removing Pd 3 , 3 1 Loop1 is achieved. Replacing the
obtainedvalues,thetransferfunction v d willbeobtainedasgiveninTable1.
o
TABLE1.TRANSFERFUNCTIONEXTRACTIONPROCESSFROMSIGNALFLOWGRAPHOFZETACONVERTER
Distinctloops
Distinctloopsgain
Nontouchingloopsgain
(1 D) 2
Loop1
L1Cs 2
2
Loop2
L2Cs 2
Loop3
L2Co s 2
Loop4
Loop1,3
(1 D) 2
L1L2CCo s 4
Loop1,4
(1 D) 2
RL1CCo s 3
Loop2,4
RL2CCo s 3
RCo s
Forwardpaths
Pathsfrom vi to vo
Gain
2
Pi1
Pi 2 : vi , siL 2 , iL 2 , svo , vo
D (1 D)
L1L2CCo s 4
Pi 2
L2Co s 2
Forwardpaths
Pathsfrom d to vo
Gain
Pd 1
ViD
L1L2CCo s 4
2
Pd 2
Pd 3 : d , siL 2 , iL 2 , svo , vo
ViD
(1 D) 2 RL2CCo s 3
Pd 3
Vi
(1 D) L2Co s 2
Transferfunctionfrom vi to vo
vo
P
i i
vi
Pi1 Pi 2 (1 Loop1 )
D 2 D(1 D)
L2Co
L1L2CCo
2
2
(1 D) 2
1 3 (1 D) 2 D
1 2 (1 D) 2
D
s4
s
s
s
L1C
RL1CCo RL2CCo L1L2CCo
L2C L2Co
RCo
Transferfunctionfrom d to v
o
vo
P
d d
d
Pd 1 Pd 2 Pd 3 (1 Loop1 )
Vi
Vi D
i
s
L
L
CC
D
L
C
(1
)
D
RL
CC
(1
)
1 2 o
2 o
o
2
2
(1 D) 2 D 2
(1 D) 2
(1 D) 2
D
1
1
4
3
2
s
s
s
s
RL1CCo RL2CCo L1L2CCo
L1C
L2C L2Co
RCo
13
ElectricalEngineeringResearch(EER),Volume3,2015
TABLE2.SIMULATIONPARAMETERS
TABLE3.INFORMATIONOBTAINEDFROMPOLESANDZEROSOFTHE
TRANSFERFUNCTIONOF vo
L1
L2
18.9 H
C1
18.9 H
14 F
vi
Poles
11.2 F
Value
1.15 103
Co
Ro
vi
Damping
Overshoot(%)
2.45 104 i
0.047
86.3
6.5 F
10
12V
0.57
Frequency(rad/s)
2.46 104
Zeros
6.54 103
9.69 104 i
0.0673
80.9
9.71 104
4.03 104 i
0
100
4.03 104
x 10
Root Locus
2
0
-2
-4
-15000
-10000
-5000
200
0
-200
180
0
-180
5000
10
10
10
10
(a)ROOTLOCUS(b)BODEDIAGRAMS
FIG3.RESPONSEOFTRANSFERFUNCTIONOF vo vi
Simulation Results
Insimulation,theparametersofZetaconverterareconsideredasgiveninTable2.
FrequencyResponseAnalysisfor vo vi TransferFunction
Therootlocus,magnitudeandphaseBodediagramsforextractedtransferfunctionof vo vi areshowninFig.3.
TheinformationobtainedfromthesediagramsisgiveninTable3.
ConsideringtherootlocusshowninFig.3(a),itisunderstoodthat vo vi hasfourcomplexpolesinlefthandside
of the imaginary axis and two complex zeros on imaginary axis. Considering Bode diagrams (Fig. 3(b)), the
magnitudecurveofthefunctionbeginswithaconstantvalueof 2.64dB ( DC gain) andatthefrequencyof 24.6 kHz
duo to the poles 1.15 103 2.45 104 i , an undershoot occurs in magnitude curve and its slope becomes
40 dB / dec andthephasecurvebeginsfrom 0o andaphasereductionof 180o takesplace.Atthefrequencyof
14
ElectricalEngineeringResearch(EER),Volume3,2015
oftheimaginaryaxisandtwocomplexzerosrighthandplane.FromBodediagrams(Fig.4(b)),gainmarginofthe
systemis 37.5 dB andthephasemarginis 2.52o .So,thetransferfunctionisunstableandneedsacompensatorin
normalconditions.
Fromrootlocusdiagrams,thementionedsystemhastwocomplexzerosinrighthandsideoftheimaginaryaxis.
Inordertohaveamorestablesystemthepropercontrollershouldbedesignedforthementionedtransferfunction.
InnextsectiondesigningtheproposedmodelbasedPIDcontrollerwillbeexplained.
Root Locus
x 10
2
0
-2
-4
-2
-1.5
100
0
-100
360
0
-360
3
4
5
6
10
10
10
10
(a)ROOTLOCUS(b)BODEDIAGRAMS
-1
-0.5
0.5
FIG4.RESPONSEOFTRANSFERFUNCTIONOF vo d
TABLE4.INFORMATIONOBTAINEDFORMPOLESANDZEROSOFTHETRANSFERFUNCTIONOF vo
Poles
1.15 10
Value
Damping
Overshoot(%)
2.45 10 i
0.047
86.3
Frequency(rad/s)
2.46 104
Zeros
6.54 10
2.7 103
9.69 10 i
0.0673
80.9
4
4.03 104 i
0.0669
123
9.71 104
4.03 104
Step Response
120
Amplitude
100
refrence
80
60
controller
error
C (s)
plant
T ( s)
output
40
20
0
0.5
1.5
2.5
3.5
FIG.5.STEPRESPONSEOFTHEOPENLOOPSYSTEM
4(msec)
FIG.6.THEWHOLESYSTEMCONFIGURATIONWITHTHE
PIDCONTROLLER
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ElectricalEngineeringResearch(EER),Volume3,2015
aimsofthePIDcontrollersare:
eliminatingsteadystateerrorofthestepresponse(duetotheintegralaction)
reducingthepeakovershoot(providingdampingduetoderivativeaction)
There are many methods for tuning the PID parameters or gains. The most famous method for achieving the
mentionedgoalisZieglerNicholstuningmethod.Table6showstheparametersobtainedforthecontroller.
Fig.7showsthestepresponseofthesystemafterapplyingthedesignedPIDcontroller.
Fig.8showstheBodediagramsofthesystembeforeandafterapplyingthedesignedPIDcontroller.Fig.9shows
the Nyquist diagram of the closed loop system. The results prove the stability of the obtained system with the
proposedcontroller.StabilityoftheobtainedcontrolledsystemiswellillustraitedinFig.9.
Fromthesimulationresults,itisobviousthatthedisturbanceisrejectedandthiscontrollerbehavesverydesirably
intimedomain.Checkingthebodediagramsdepictsthatthesystemhasbecomeastableone.Also,calculations
bring out the gain margin as 16.2 dB and a phase margin of 89.7 deg which are favorite frequencydomain
response characteristics. Then, applying the proposed controller, the converter system becomes stable and
regulated.
Bode Diagram
KP
KI
8.0306
KD
0.00422
0.00748
16.2
89.7
Yes
TABLE6.PIDPARAMETERSOBTAINED
100
0
-100
360
180
0
-180
-360
1
10
open loop
closed loop
2
10
10
10
10
10
FIG.8.BODEDIAGRAMSOFTHEOPENLOOPAND
CLOSEDLOOPCONVERTERSYSTEM
Nyquist Diagram
Step Response
1
1
Imaginary Axis
Amplitude
0.8
0.6
0.4
0.2
0
0.002
0.004
0.006
0.008
0.01
0.012
FIG.7.STEPRESPONSEOFTHECLOSEDLOOPCONVERTER
SYSTEM
0.5
0
-0.5
-1
-1
-0.5
0.5
FIG.9.NYQUISTDIAGRAMOFTHECLOSEDLOOP
CONVERTERSYSTEM
Conclusions
In this paper, modelling and analyzing of the Zeta converter operating in continuous conduction mode were
presented. Application of the proposed based on signal flow graph method and Masons gain formula for
extractingassociatedtransferfunctionsandmodellingadcdcZetaconverterwasinvestigated.Inthisprocess,for
modelling the average and small signal linearization techniques were employed. Extracting the final transfer
functionsfrominitialstatespaceequationsweredescribedstepbystep.Applicationofsignalflowgraphmethod
andMasonsrulehelpstosolvethehighordercomplexequationssimply.Thepresentedmethoddealswiththe
equationswithmorestatevariablesaswell.Inthispaper,thetransferfunctionsfrominputtooutputandcontrolto
output were obtained. Then, by using the proposed method the poles, zeros, rootlocus plot and Bode diagrams
were extracted and the achieved frequency response was analyzed. Finally, the efficiency of the proposed tuned
16
ElectricalEngineeringResearch(EER),Volume3,2015
PID controller as a model based technique to design a proper control system is shown. The proposed control
systememploysthePIDcontrollerwithaspecialadjustmentforpropersettingofthecontrolresponses.
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