Design and Analysis of Two-Input DC-DC

Converter Used in Low Voltage DC-Grid

Applications
Vargil Kumar. E, Veerachary. M
Department of Electrical Engineering, IIT Delhi, Hauz Khas, New Delhi, INDIA

Abstract- The paper brings into depiction a novel two input Wind distribution systems, (v) Hybrid fuel cell (vi) Battery
DC-DC converters topology, for DC micro-grid applications. systems, (vii) Hybrid ultra-capacitor storage based DC
The paper proposes a topology which is capable of providing systems, which are part of hybrid power sources based hybrid
excessive bucking with one source and also boosting operation.
On account of excessive stepping down of the input dc voltage distributed generation systems (HDGS). To regulate various
the converter uses additional energy storage components and hybrid power generators and PVG’s as desired, DC-DC
hence it belongs to seventh order family. The proposed converters are needed.
converter regulates the power flow between input dc sources and In order to utilize renewable energy resources carefully
dc micro-grid either individually or collectively at a reduced and efficiently, it is necessary to tap the energy as and when it
source ripple. The digital voltage regulation while the current is available and then store for subsequent utilization.
controller is used, for second input DC source, to ensure load
Associating a converter to each energy source is adopted in
division. A 72/ 36 V to 24 V, with power capacity of, 150 ~ 300W
dc low voltage micro-grid is designed to validate the proposed traditional methods of integrating different multi-input
concept. The theoretical analysis is validated through converter (MIC) which is flexible with respect to operation
simulations. point of view and is a viable option for the hybrid vehicles,
automotive industries and even in remote stand-alone power
I. INTRODUCTION
supply system [4]-[5]. But integrating various sources with
Harvesting the energy available from renewable energy single converter topology is drawing attention of many
sources is gaining demand in the modern era of hybrid power research groups. Attaining the required efficiency and power
distribution systems. To cater the excessive demand the density, are the major confronts, and the subsequent
energy is to be utilized in a proper way, aided by switched constraints, are scheming a suitable control strategy which is
mode power converters applications. To transfer power simple and reliable.
efficiently, between various sources and the load, a suitable
communicating and conversion device is needed, where
Multi-input DC-DC converters are finding their prominence.
The cutting-edge challenges before Power supply designers
are (i) augmented power density with the miniaturized
compact circuit design, (ii) the electromagnetic interference
issues to be addressed. Compact, slender and greater power
density are also some of the key design parameters [1]-[3]. In
order to cater afore mentioned problems and also with respect
to many applications an assortment of numerous different
types of switched-mode DC-DC converters, belonging to
conventional and derived topologies, are being proposed,
reported and their feasibility with respect to many
applications are presented in various papers. DC distribution
systems, found their prominence in various applications,
especially in automotive and telecom power supply systems.
Requirement of DC distribution systems is to meet the
galloping power demand and dipping load, whose effect is
felt on the prime energy source, i.e., built-in battery. Such
operations are made reliable and flexible by appending
Fig. 1. Proposed two-input dc-dc converter circuit diagram.
available power sources in parallel to the accessible primary
battery source. The additional power sources can be either of While considering the constraints and problems, MICs,
(i) Photo-voltaic generators (PVG’s) (ii) In electric vehicles with different topological combinations, are sprouting up,
or hybrid electric vehicles(HEV's), interfacing the PV panel which obviates the usage of numerous DC-DC converters to
systems, (iii) PV energy harvesting with ac mains (iv) the be associated with each source. A methodical approach to

978-1-4673-2818-0/13/$31.00 ©2013 IEEE

synthesize multi-input converter systems using combinations
of pulsating sources such as PVSC’s and PCSC’s into basic
PWM converters [8]. In this aspect although several power
conversion topology configurations can be developed, but an
integrated converter capable of providing bucking as well as
boosting is a desirable requirement for wide range of
applications. In this aspect, sufficient literature covering the
development of converter and control schemes for such
applications is not generously available. Furthermore,
literature covering proper designing methods of digital
controllers for numerous types of converters are also limited.
To bridge this gap, a novel two-input dc-dc converter is
proposed in this paper, and digital controllers have been Fig. 3. Mode-2, S1-ON, S2-OFF and D1,D3-ON.
designed to ensure dc micro-grid voltage regulation together
with load sharing control of the input dc power sources. The
proposed converter scheme is more suitable for (i) power
processing from lead-acid batteries together with super
capacitors/fuel-cells, (ii) dc power systems needing in the
hybrid automotive applications, and (iii) remote telecom
towers power management back-up systems. Among two dc
sources one of the source can easily be replaced with
photovoltaic source also.

Conventional compensator design approaches are being

reported in the literature for analog and IC based controllers.
Incase of digital design of controller, extensively used
approaches are (i) digital redesign method (DRM), which
concentrates on designing the compensator using linear
system theory along with conventional Laplace transform and
transforming the same to z-domain, which is obviously a time
impediment process since two conversions are required (ii)
direct digital design method (DDDM), deliberate on
designing the compensator straight in z-domain and therefore
the conversion time from s-domain to z-domain can be
abridged [6].
Fig. 4. Mode-3, S1,S2-OFF, D2,D4-ON.
II. MODELING OF TWO-INPUT INTEGRATED DC-DC
CONVERTER
The projected two-input dc-dc converter, presented in
Fig. 1, has two switching devices, seven energy storage
elements and hence it forms a seventh-order system. As it is
belongs to higher-order system its dynamics plays an
important role in the stabilization and controlling the power
flow. Complete system mathematical modeling is required to
design suitable digital controller. It has the following salient
features (a) both the dc sources are supplying continuous
currents and hence their ripple current is low, (b) minor
filtering requirement on the input side, (c) automatic load
transfer on to the primary dc source if the succeeding dc
source capacity is out of range, and (d) simple control
strategy, with or without overlap of duty ratio signals, as
there are only two switching devices need to be controlled.

For those converters to have a larger step-down/up the duty

F reported in the literature [4]-[5]. Several research groups are
Fig. 2. Mode-1, S1 and S2 are ON.
ratio is in the extreme value and in such cases the switch is
either overstressed or its utilization is poor. Furthermore,
extreme duty cycle operation may lead to efficiency
penalization, and cause malfunctioning of converter at rapid
switching frequencies due to comparable shorter time of
diode conduction. In the realization of steep conversion
ratio’s the switched capacitor and inductor structures, along
with the conventional converters, are playing a significant
role. Few topologies belongs to this category have been
active in this direction to evolve new topologies with larger
step-down ratio along with low source current ripple. In order ª (R L1 +RC3 +(RRC4 /P)) RC3 1 R º
« 0 0 0
to bridge this gap a two-input integrated converter for low « L1 L1 L1 L1P »»
voltage dc grid application with reduced source current ripple « RL2 »
« 0 0 0 0 0 0 »
is proposed in this paper. « L2 »
In the proposed converter both the sources are supplied «
Rc3  RC3  RL3  1 »
through an inductor and hence the source current ripple is « 0 0 0 0 »
A1 « L3 L3 L3 »
low. Furthermore, the subsequent switched capacitor stage «
0 0 0 0 0 0 0 »
»
«
provides a steep step-down conversion ratio at moderate duty « 0 0 0 0 0 0 0 »
ratio. This is one of the important features of this converter «
1/ C3 0 1/ C3 0 0 0 0 »
»
«
which increases the switch utilization factor. Depending on « Rc4 1 »
the load demand the circuit source side inductances current « 0 0 0 0 0 »
can be either in continuous or discontinuous mode. Since dc ¬« PC4 C4 P ¼»

micro-grid voltage is low and supplying higher loads, the

ªQRL1  RC1RC2 RC1RC2 ª Rc1RC2 º RC2 RC1 º
source currents magnitude is substantial so that for most of « « » 0 0 »
« QL1 LQ ¬ LQ ¼ LQ LQ »
the loads the inductor currents are continuous. Taking into «
1 1 1 1
»
« R R 1 ª RR R R º 1 ª RR RC1RC2 º RC2 RC2 1 R »
account of this, the converter is analyzed here for continuous «
C1 C2
L2Q L2 ¬
R 
« L2 C3R 
P
C4
 C1 C2
Q ¼
» «
L2 ¬ P
C4

Q ¼
»
L2Q L2Q L2 L2P »
current mode of operation. The converter circuit operation « »
R
« C1 C2 R ª
1 RRC4 RC1RC2 º 1 ª RR R R º RC2 RC2 RC4 »
«  »  «RL3  C4  C1 C2 » 0
also rely on the triggering instants of S1 and S2, and the two «
«  L3Q L3 ¬ P Q ¼ L3 ¬ P Q ¼ L3Q L3Q L3P »»
switches (S1 and S2), can be synchronized either with trailing A2 «
«
RC2

RC2 RC2 1 1
0 0 »
»

or leading edge operation. Furthermore, depending on the «

«
CQ
1 CQ
1 CQ1 CQ
1 CQ
1 »
»
R R RC1 1 1
load demand and available power with each dc source three « C1
 C1 0 0 »
« C2Q C2Q C2Q C2Q C2Q »
modes of operation can be realized, which are: (i) P1 ! P2 or «
0 1/ C3 0 0 0 0 0 »
»
«
« 1 »
d1 ! d 2 , (ii) P1  P2 or d1  d 2 , (iii) P1 P2 or d1 d 2 , here « 0
R R
0 0 0 »
¬« C4P C4P C4P ¼»
d1, d2 respectively are duty ratio of switch S1 and S2. In the
first two cases the circuit undergoes three different structural ª RL1  Rc3  Rc2 1 1 º
changes, while in the last case only two operating modes in « L1
0 0
L1 L1
0 0 »
« »
one switching cycle. In this paper the d1 ! d 2 case is analyzed « 1 ª RR º Rc4 1 Rc4 »
« 0 RL2  RC3  C 4 » 0 0 »
for the trailing-edge synchronized switching signals. Analysis « L2 «¬ P ¼ L2 P L2 L2 P »
« Rc4 »
of other cases is quite similar to one presented. For «
RRc4 1 § RRC4 ·
»
0 ¨ RL3  ¸ 0 0 0
d1 ! d 2 case the switching sequence in one switching cycle is: « L3 (R  Rc4 ) L3 © P ¹ L3 P »
« »
« 1
(i) Mode-1: S1, S2 are ON, (ii) Mode-2: S1, D1, D3 are ON, A3 0 0 0 0 0 0 »
« C1 »
and (iii) Mode-3: D2, D4 are ON-state. The equivalent «
1
»
« 0 0 0 0 0 0 »
circuits for these operating modes are shown in Figs. 2 to 4. « C2 »
« »
« 1
Considering the above three modes of operation and 0 0 0 0 0 0 »
« C3 »
applying volt-sec balance to inductors gives the voltage « »
« R R 1 »
conversion ratio of this converter as « 0
C4 p C4 P
0 0 0
C4 P »¼
¬
§ d1  d 2 · § 2 d 2 ( 1  d1 ) ·
Vo ¨ ¸ Vg 1  ¨ ¸ Vg 2 (1) ª 1 º
© 2  d1  3d 2 ¹ © 2  d1  3d 2 ¹ « L1
0 »
« »
« 1 »
From this equation it is clear that the load voltage is « 0 » (3)
« L2 »
controlled by the combination of switch duty ratio signals and
B1 B2 B3 « 0 0 »
also depends on both input dc sources voltage magnitudes. In « »
« 0 0 »
order to analyze the dynamic behavior and also to design a « 0 0 »
digital controller the converter operating modes are « »
transformed into a set of first-order differential equations and « 0 0 »
« 0 0 »¼
then formulated state-space models. In each mode of ¬
operation the power stage dynamics can easily be described
ª RRC 4 R º
by state equations given by: C1 « 0 0 0 0 0 »
¬ R  R R  RC 4 ¼
x AK x  BK u C4

ª RRC 4 RRC 4 R º
v0 C k x (2) C2 C3 «0  0 0 0 »
¬ R  RC4 R  RC4 R  RC 4 ¼
T
where [x]=[iL1 iL 2 iL 3 vc1 vc 2 vc 3 vc 4 ], >u @
ªVg1 Vg 2 º , and
¬ ¼
The discrete time small-signal model [6] is given by:
k=1, 2, 3 for different modes 1, 2 and 3, respectively, whose
state matrices are given below. Let xˆ > n @ I xˆ > n  1@  J dˆ > n  1@ (4)
P R  RC 4 ; Q RC1  RC 2 ; The corresponding output equation is:
 yˆ > n @ Ci xˆ > n @. (5)
In dc-dc converters trailing-edge and leading-edge pulse
width modulation schemes are broadly used. In this paper,
OFF-time sampling based trailing-edge PWM, as shown in
Fig. 4, is implemented and its detailed mathematical analysis
is discussed in the following paragraphs. From Fig. 5 over
interval-1:  n-1 Ts <t< ª¬ n-1 Ts  td  d2Ts º¼ , where fs (=1/Ts), the
system state equation can easily be written as
x A3 x (6)
The discrete-time model, assuming that the excitation of
source is same throughout during various modes of switching
cycle, with state ‘x[(n-1)Ts]’ during starting [6] and duty
ratio ‘d’ is simply written as

x ª¬ n-1 Ts  td  d2Ts º¼ e x ª¬ n 1 Ts º¼
A3  td  d2Ts 
(7)
for the rest of all modes, the equations are:
Iinterval-2: ª¬ n-1 Ts  td  d 2Ts º¼ <t< ª¬ n-1 Ts  td º¼ ,
x ª¬ n-1 Ts  td º¼ e 1> 2 s @ e 3  d x ª¬ n 1 Ts  td  d2Ts º¼
A dT A t d2Ts 
(8) Fig. 5. PWM gating signals and Off-Time sampling process.

Interval-3: ª¬ n-1 Ts  td º¼ <t< ª¬ n-1 Ts  td   d1Ts  d2Ts  º¼

x ª¬ n-1 Ts  td   d1Ts  d2Ts  º¼ v0 _ ref
Tcv ( z )
dˆ1 ( z )
G11 ( z )
A2 > d1Ts d2Ts @ A1d2Ts A3  td d2Ts  A2Ts > d1 d2 @
(9) vˆ0 ( z )
e e e x ¬ª n 1 Ts ¼º  K2Ts e dˆ2
G21 ( z )
Interval 4: ª¬ n-1 Ts  td   d1Ts  d 2Ts  º¼ <t< > nTs @
x > nTs @ e 3 > s
A T d1Ts td  d2Ts @ A3 >td d2Ts @ A2Ts  d1 d2  A1d2Ts
e e e x ª¬ n 1 Ts º¼
G12 ( z )
A3 >Ts d1Ts td  d2Ts @ A2Ts > d1 d2 @ A3 >Ts d1Ts td  d2Ts @
K2Ts e e dˆ2  K1Ts e dˆ1 (10)
The discrete-time small-signal model criterion, for the ig _ ref dˆ2 ( z ) iˆg ( z )
Tcc ( z ) G22 ( z )
aforementioned converter can be scripted as:
xˆ > nTs @ Ixˆ ª¬ n 1 Ts º¼ J 2dˆ2 ª¬ n 1 Ts º¼ J1dˆ1 ª¬ n 1 Ts º¼ (11)
Fig. 6. Block diagram of the closed-loop converter system.
Comparing eqns. (10) & (11),
A3 >Ts  d1Ts  td  d 2Ts @
I e ATs , J 1 K1Ts e ,
A3 >Ts  d1Ts  td  d 2Ts @ A2Ts > d1  d 2 @
J2 K 2Ts e e ,
K1 ¬ª A2  A3  x   B2  B3  U ¼º , K 2 ¬ª A1  A2  x   B1  B2 U º¼ .
Discretizing eqn. (14) using discrete transform,
x z > zI  I @ ª¬J 1d1  z   J 2 d2  z  º¼
1
(12)

Taking the z-transform of equation (6) results in

y ( z ) Ei x( z ) (13)
Combining eqns. (11) and (12) results in
y( z) Ei > zI  I @ J 2 d2  z   Ei > zI  I @ J1d1  z  .
1 1
(14)
A delay greater than Ts, td=(kTs+td’) can resulting in resulting
discrete-time model accounted by replacing dˆ > n  1@ with
Fig. 7. Bode plots of voltage and current loop gains (LGV: Voltage loop,
dˆ > n  1  k @ , td with td': LGI: Current loop).
x > nTs @ I x ª¬ n  1 Ts º¼  J 1dˆ2 ª¬ n  1  k  Ts º¼
(15) The above analytical equations describe the small-signal
 J 2 dˆ1 ª¬ n  1  k  Ts º¼ dynamics of the dc-dc integrated converter. To design voltage
and current control-loop strategies based on d1 and d2, the
Discretization of eqn. (13) results in
interaction degree between the two control loops must be
x  z  zk > zI I@ J1d2  z   zk > zI I@ J 2d1  z 
1 1
(16) clearly visualized.

Fig. 8. Steady-state waveforms showing load division on the two input dc
sources.
Fig. 9. Dynamic response of load voltage against step change in load
(R: 4 ĺ 2 Ÿ).
III. DIGITAL CONTROLLER DESIGN
Quite a few types of control strategies are stated in various
papers, and are generally categorized into: (i) single-loop
voltage-mode, (ii) single-loop current-mode, (iii) two-loop
current mode control, and (iv) multi-loop schemes. Single-
loop decoupled control methods are purported, of them one is
focused towards dc micro-grid for voltage regulation and the
later is for division of load on the input dc sources. The
combination is This structure is able to maintain the voltage
regulation along with the sharing of load on the dc sources.
These two control combinations are transposable against each
other, which is being assured by means of interaction
analysis, depending on capacity of the dc sources.
Use of current-control loop for one dc source, reference
must be less than or equal to its capacity, limits its supplying
capacity, while the rest of the load is automatically transfers
on to the other source. If there is any weak source then it is
always recommended to use current-control loop for this
source while other source automatically takes additional load
demand. Detailed mathematical analysis will be given in the
final paper to support above discussions. For decoupled
digital controllers design two different loop gains have been
defined here, the first one is for current-control loop and the
second is for the voltage regulation of micro-grid. The
general block diagram for loop design is shown in Fig. 7
where Gc(z): Compensator, Fm: PWM generator transfer
function, ‘K’ is the load voltage sensing gain, and loop gain
TL(z)=KFmGc(z)Gp(z). Here, Gp(z) can be either control –to-
inductor current transfer function in case of current controller
design, or control –to- output voltage transfer function for the
voltage regulator design. Either of the cases digital
compensator is designed in the frequency domain for the
equivalent channel using sisotool of the MATLAB. The
technique of pole-zero placement is used and thereby absolute
design is achieved. By Finely tuning the compensator relative
stability margins, i.e. gain margin > 6 dB, 350< phase margin
<750 are ensured, along with suitable crossover frequency,
which normally depends on the order of the converter, power
processing capacity and its switching frequency. The final
feasible controllers for the current and voltage loops
respectively, are:
0.01206( z  0.97)
Gci ( z ) (17)
( z  1)
0.8502( z  0.84)( z  0.9526)
Gcv ( z) (18)
( z  1)( z  0.672)
IV. SIMULATION STUDIES AND EXPERIMENTAL RESULTS
To validate the analytical studies carried above and to
extract the salient features of the proposed converter a 72/ 36
V to 24 V, with power capacity of, 150 ~ 300 Watt dc low
voltage micro-grid system is considered here. PSIM is used
for simulation purpose. In these studies DC source-1
considered as heavier source having sufficient power
supplying capacity, more than load demand, while DC
source-2 considered as weaker source with its power
supplying capacity less than the load demand.
For a load demand of 150 W various steady-state
waveforms of voltages and current are shown in Fig. 8. Here,
it has been kept current limit of 3 A on the dc source-2 and its
maximum power delivering capacity is 108 W. To illustrate
this feature the load is changed from 4 to 2 Ÿ and the
corresponding dynamic responses of various quantities are
pointed out in Fig. 9. It is clear from this result that load
voltage is almost constant in spite of the increased load
demand and the additional load is now transferred on to the
dc source-1.
The current control-loop, load division control,
effectiveness is also verified when the source voltages are
varying between their minimum and maximum values. To
emulate this aspect, dc source-2 voltage kept at its rated value
(72 V), while the dc source-1 voltage is gradually varied
between 72 and 90 V and the respective results are plotted in
Fig. 10. On account of variation in dc source-1 voltage, its
current (iL1) magnitude is changing as shown in Fig. 10. The
testing of capability of power distribution of the proposed
converter is undertaken against gradual change in dc source-2
voltage and the simulated result is plotted in Fig. 11.
Dynamic response measurement results for addition of input
dc source-2 are revealed in Fig. 12 and it can be made clear
that measuring this, for an invariable load demand,
connection of the dc source-2 by its own decreases the burden
on the dc source-1 and contrariwise.
V. CONCLUSION
A new two-input DC-DC converter with larger step-down
ratio suitable for low voltage dc micro-grid drawing was
proposed in this paper. Modes of operations have been
analyzed and then decoupled control-loops were designed to
distribute the load demand on both the input sources. Control Fig. 12. Dynamic response of load voltage against connection of dc source-2.
strategy of voltage-mode is used in ensuring dc micro-grid in
the regulation of voltage, while current-control loop was
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Fig. 11. Dynamic response of load voltage against step change in source
voltage (Vg2: 36 ĺ 20 V).