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Abstract—This paper presents the design and analysis are hysteresis-modulation (HM) (or delta-modulation) based
of a fixed-frequency pulsewidth modulation (PWM)-based [3]–[8], that is, they require a bang–bang type of controller to
quasi-sliding-mode voltage controller for buck converters from a perform the switching control. Naturally, they inherit the typical
circuit design perspective. A practical design approach that aims
at systematizing the procedure for the selection of the control disadvantages of having variable switching frequency operation
parameters is presented. In addition, a simple analog form of and being highly control-sensitive to noise. Possible solutions
the controller for practical realization is provided. The resulting include the use of constant timer circuits into the hysteretic SM
controller exhibits the same structure as a PWM proportional controller to ensure constant switching frequency operation
derivative (PD) linear controller, but with an additional component [7], or the use of an adaptive hysteresis band that varies with
consisting of the instantaneous input voltage and the instantaneous
output voltage. Simulation and experimental results show that the parameter changes to control and fixate the switching frequency
performance of the converter agrees with the theoretical design. [8]. However, these solutions require additional components
and are less suited for low cost voltage conversion applications.
Index Terms—Buck converter, fixed-frequency, hysteresis-mod-
ulation, pulsewidth modulation (PWM), quasi-sliding-mode An alternative solution to this is to change the modulation
(QSM), sliding-mode (SM) control. method of the SM controllers from HM to pulsewidth modulation
(PWM),otherwiseknownas thedutycycle control.Thetechnique
of PWM modulation is to compare a desired analogue control
I. INTRODUCTION signal V with a ramp signal, of which a pulse-like output
sign (3)
(4)
1Satisfaction of the hitting condition assures that regardless of the initial con- (8)
dition, the state trajectory of the system will always be directed toward the
sliding surface.
2Satisfaction of the existence condition ensures that the state trajectory at lo-
i.e.,
cations near the sliding surface will always be directed toward the sliding sur-
face. (9)
1382 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 20, NO. 6, NOVEMBER 2005
or rearranged in scalar representation Theoretically, one may assume that at steady-state operation,
the actual output voltage V is ideally a pure dc waveform
V V V V whose magnitude is equal to the desired output voltage
V V . However, this is not true in practice. Due
(10)
to the limitation of finite switching frequency and imperfect
The above inequalities give the conditions for existence and
feedback loop, there will always be some steady-state dc error
therefore provide a range of employable sliding coefficients that
between V and V , even with the error-reducing integral
will ensure that the converter stays in SM operation when its
controllers (i.e., PI, PID). It is important to take this error into
state trajectory is near the sliding surface. However, other than
consideration for the design of the controller since the factor
the existence of SM, no information relating the sliding coeffi-
V V is relatively large in comparison
cients to the converter performance can be derived.
to V .
C. Existence Condition With Design Parameters Consideration Now, considering that
a) in controllers with integral control function, the difference
To alleviate the above problem, we propose to first tighten the
between V and V is small, and when optimally de-
design constraints by absorbing the actual operating parameters
signed, is normally limited to a range of within 5% of
into the inequality. This is done by decomposing (10) into two
V ;3
inequalities and considering them as individual cases with re-
spect to the polarity of the capacitor current flow. Since in prac- and in our particular controller arrangement where voltage error
tice , the left inequality of (10) is implied is denoted as V V
by b) the dc average of V is always lower than V for PWM-
based SMVC converters (as shown in the results later in
V V V the paper);
c) the dc average of V is always higher than V for
(11) HM-based SMVC converters (as illustrated from the
which can be rearranged to give results in [19]); and
V V V d) the term is always positive;
(12) we can rewrite the existence condition (15) for PWM-based
SMVC converter as
and the right inequality of (10) is implied by
V
for
V V V V
(13) V V
which can be rearranged to give
V V V V V
V
(14)
Thus, the design of the sliding coefficients is now dependent on which will provide the ideal average sliding motion on the man-
the bandwidth of the desired frequency response in conjunction ifold 0.
with the existence condition (17) for HM-based controllers or 2) Duty Cycle Control: In terms of PWM-based controlled
(16) for PWM-based controllers. It is worth mentioning that the system, the instantaneous duty cycle is expressed as
design equations in (22) for the SMVC controller are applicable
to all other types of second-order converters. V
(26)
4Satisfactionof the stability condition ensures that the state trajectory of the
system under SM operation will always reach a stable equilibrium point.
5The design for an under-damped controller can be performed using a similar where V is the control signal to the pulsewidth modulator and
procedure as discussed hereafter. is the peak magnitude of the constant frequency ramp
1384 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 20, NO. 6, NOVEMBER 2005
V (27)
V V V V
(28)
and
V (29)
Fig. 6. Full schematic diagram of the PWM-based SMVC buck converter C. Line Variation Analysis
prototype.
Fig. 11 shows the experimental waveforms of the SMVC buck
converter that is operated with minimum and maximum input
response, the controller is designed for two different band-
voltage of V 16 V and V 30 V. As shown in the figures,
widths: at one twentieth and at one tenth of the switching
the controller operates effectively for both operating conditions.
frequency , i.e., 10 kHz (i.e., first-order response
Additionally, to investigate the effectiveness of the adaptive
time constant kHz 15.915 s) and 20 kHz (i.e.,
feed-forward control property, experiments are performed for
20 kHz 7.956 s). The parameters of the controllers are
both the cases where the peak of the input ramp signal to the
given in Appendix II. Fig. 6 shows the full schematic diagram
comparator is set as a constant (i.e., 5 V) and where it
of the experimental prototype.
is adaptive (i.e., V ).
Fig. 12(a)–(d) and Fig. 13(a)–(d) show, respectively, the
A. Steady-State Performance experimental waveforms of the converter under minimum and
Figs. 7 and 8 show the simulated (left) and experimental maximum input voltage. The waveforms with and without the
(right) waveforms during steady-state operation, for the SMVC adaptive feed-forward control property can be differentiated in
converter with the 20-kHz bandwidth controller operating terms of their ramp signals [ 5.00 V in Figs. 12(b) and
at full load (i.e., 3 ). It can be seen that except for (c) and 13(a) and (c); 3.33 V in Fig. 12(b) and (d);
some ringing noise in the experimentally captured V and V and 6.25 V in Fig. 13(b) and (d)]. The other difference
waveforms, the simulated and experimental waveforms are in between the adaptive and nonadaptive controllers’ waveforms
good agreement. The main difference is that for the simulation, is the control signal V . In the case where V 16 V, with a
output voltage ripple V 4 mV (i.e., 0.035% of V ), and lower , and in the attempt to accommodate the operation
for the experiment, V 8 mV (i.e., 0.07% of V ). This to a constant duty ratio V V , the magnitude of V
discrepancy is mainly due to the presence of parasitic resistance signal is automatically reduced by the adaptive feed-forward
1386 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 20, NO. 6, NOVEMBER 2005
Fig. 7. (a) Simulated and (b) experimental waveforms of control signal V , input ramp V , and generated gate pulse u for SMVC converter with the 20-kHz
bandwidth controller operating at constant load resistance R = 3
.
(a) (b)
Fig. 8. (a) Simulated and (b) experimental waveforms of gate pulse u, and the corresponding inductor current i and output voltage ripple V for SMVC converter
with the 20-kHz bandwidth controller operating at constant load resistance R = 3
.
(a) (b)
Fig. 9. Experimental waveforms of (a) control signal V input ramp V , and generated gate pulse u and waveforms of (b) gate pulse u and the corresponding
inductor current i and output voltage ripple V , for the SMVC converter with the 10-kHz bandwidth controller operating at load resistance R = 3
.
control [compare Fig. 12(a) and (c) with Fig. 12(b) and (d)]. controller without adaptive feed-forward control. In contrast,
This effectively tightens the voltage regulation relative to the when the converter operates at V 30 V, the magnitude of
TAN et al.: FIXED-FREQUENCY PULSEWIDTH MODULATION BASED QUASI-SLIDING-MODE CONTROLLER 1387
(a) (b)
Fig. 11. Experimental waveforms of gate pulse u, and the corresponding inductor current i and output voltage ripple V , for the SMVC converter with the
10-kHz bandwidth controller operating at (a) input voltage V = 16 V and (b) V = 30 V, at load resistance R = 3
.
Fig. 12. Experimental waveforms of control signal V , input ramp V , and generated gate pulse u for the SMVC converter with both the 10-kHz and 20-kHz
bandwidth controllers, with and without the adaptive feed-forward control property, operating at input voltage V = 16 V and load resistance R = 3
. (a)
10-kHz bandwidth controller without adaptive feed-forward control. (b) 10-kHz bandwidth controller with adaptive feed-forward control. (c) 20-kHz bandwidth
controller without adaptive feed-forward control. (d) 20-kHz bandwidth controller with adaptive feed-forward control.
addition to the existence conditions of the system. An analog a classical PWM PD linear voltage mode controller. The sim-
form of the controller is also presented. It is found that the ulation and experimental results show that the response of the
PWM-based SM controller adopts a similar structure to that of converter agrees with the theoretical design.
TAN et al.: FIXED-FREQUENCY PULSEWIDTH MODULATION BASED QUASI-SLIDING-MODE CONTROLLER 1389
Fig. 13. Experimental waveforms of control signal V , input ramp V , and generated gate pulse u for the SMVC converter with both the 10-kHz and 20-kHz
bandwidth controllers, with and without the adaptive feed-forward control scheme, operating at input voltage V = 30 V and load resistance R = 3
. (a)
10-kHz bandwidth controller without adaptive feed-forward control. (b) 10-kHz bandwidth controller with adaptive feed-forward control. (c) 20-kHz bandwidth
controller without adaptive feed-forward control. (d) 20-kHz bandwidth controller with adaptive feed-forward control.
(a) (b)
Fig. 14. Plots of measured dc output voltage V against input voltage V for SMVC buck converter with both the (a) 10-kHz and (b) 20-kHz bandwidth controllers,
with and without the adaptive feed-forward control property.
(a) (b)
Fig. 15. Simulated waveforms of output voltage ripple V and inductor current i of the SMVC converter with the (a) 10-kHz bandwidth controller and the (b)
20-kHz bandwidth controller, operating at 5-kHz step load change between R = 3
and R = 12
.
According to the figure, the rate of change of voltage in the A. Parameters of the 10-kHz Bandwidth Controller
capacitor is
For the 10-kHz bandwidth controller, the ideal control equa-
V V
(36) tion calculated from the design equations is
(a) (b)
Fig. 16. Experimental waveforms of output voltage ripple V and inductor current i of the SMVC converter with the (a) 10-kHz bandwidth controller and the
(b) 20-kHz bandwidth controller, operating at 5-kHz step load change between R = 3
and R = 12
.
Fig. 17. Experimental waveforms of output voltage ripple V and inductor current i of the buck converter, with the classical PWM voltage mode controller
(a)–(c) and the 20-kHz bandwidth PWM-based SM controller (d)–(f), operating at 5-kHz step load resistance change. (a) R between 6
and 12
(PWM
controller). (b) R between 3 and 6
(PWM controller). (c) R between 3 and 12
(PWM controller). (d) R between 6 and 12
(SM controller). (e) R 3
and 6
(SM controller). (f) R between 3 and 12
(SM controller).
The values of the components used in the controller for both the
simulation and experiment are
950 250
2.16 k 11.2 k
V 3.6 k V 910 k
10 k 10 k (43)
0.208 V V at a constant frequency 200 kHz. Setting Siew-Chong Tan (S’00) received the B.Eng. (with
330 pF, and by using (38), is calculated as honors) and M.Eng. degrees in electrical and com-
puter engineering from the National University of
72.7 k . A 75-k resistor is chosen. Singapore, Singapore, in 2000 and 2002, respec-
tively, and the Ph.D. degree from the Hong Kong
Polytechnic University, Hong Kong, in 2005.
ACKNOWLEDGMENT He is currently a Research Associate with the Hong
Kong Polytechnic University. His research interests
include motor drives and power electronics.
The authors wish to thank the anonymous reviewers for their
helpful comments and suggestions.