WO2005076446A1 - Method and robust control circuit based on the switched converter reference model - Google Patents

Method and robust control circuit based on the switched converter reference model Download PDF

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Publication number
WO2005076446A1
WO2005076446A1 PCT/ES2005/000050 ES2005000050W WO2005076446A1 WO 2005076446 A1 WO2005076446 A1 WO 2005076446A1 ES 2005000050 W ES2005000050 W ES 2005000050W WO 2005076446 A1 WO2005076446 A1 WO 2005076446A1
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Prior art keywords
voltage
control
reference model
signal
output
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PCT/ES2005/000050
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Spanish (es)
French (fr)
Inventor
Emilio FIGUERES AMORÓS
Gabriel GARCERÁ SANFELIU
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Universidad Politecnica De Valencia
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Publication of WO2005076446A1 publication Critical patent/WO2005076446A1/en

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M3/00—Conversion of dc power input into dc power output
    • H02M3/02—Conversion of dc power input into dc power output without intermediate conversion into ac
    • H02M3/04—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters
    • H02M3/10—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M3/145—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
    • H02M3/155—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only
    • H02M3/156—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only with automatic control of output voltage or current, e.g. switching regulators
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M1/00—Details of apparatus for conversion
    • H02M1/14—Arrangements for reducing ripples from dc input or output
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M1/00—Details of apparatus for conversion
    • H02M1/0003—Details of control, feedback or regulation circuits
    • H02M1/0016—Control circuits providing compensation of output voltage deviations using feedforward of disturbance parameters
    • H02M1/0022—Control circuits providing compensation of output voltage deviations using feedforward of disturbance parameters the disturbance parameters being input voltage fluctuations

Definitions

  • the present invention relates to a robust control circuit and method based on a reference model of switched converters, which provides essential novelty characteristics and notable advantages over known and used means for the same purposes in?
  • the current state of the art is a robust control circuit and method based on a reference model of switched converters, which provides essential novelty characteristics and notable advantages over known and used means for the same purposes in? The current state of the art.
  • the present invention proposes the development of a system whereby it is possible to significantly improve the robustness of the control methods in switched converters with a view to both maintaining their dynamic conditions irrespective of the possible variations that may occur both in the magnitudes of the input voltage, the load, or the passive components of the power stage, as well as the decrease in sensitivity to such disturbances.
  • the field of application of the invention is comprised within the industrial sector dedicated in general to power electronics, especially to the regulation and control systems applied to power conversion, and more especially to switched power supplies.
  • Background and Summary of the Invention Traditionally, the regulation loops of switched converters are implemented analogically by operational amplifiers, feedback of the output voltage and / or the current in an inductor. This results in the most widely used control methods based on pulse width modulation (PM, "Pulse idth Modulation”): control in voltage mode or VMC (“Voltage-Mode Control”) and control in current mode or CMC (“Current-Mode Control").
  • PM pulse width modulation
  • VMC Voltage-Mode Control
  • CMC Current-Mode Control
  • the dynamic performance (bandwidth, stability margins, audiosusceptibility and impedance of closed loop output) are sensitive to variable quantities such as input voltage, load characteristics, and the values of the passive components of the power stage in which inductors, capacitors, etc. are included. Both the input voltage and the load can vary between very wide margins, while the variations of the components of the power stage are due to factors such as tolerances, aging, temperature, etc.
  • the present invention meets the robustness objectives set and minimizes sensitivity to switching curling (for practical purposes, the sensitivity is the same as conventional schemes) without any limitation as to the curling of the output voltage of the converter, by which is easily applicable to DC-DC converters not derived from Buck and even to other AC-DC and DC-AC conversion topologies.
  • Figure 1 shows a schematic representation of a system for regulating the output voltage of a switched converter, according to traditional teachings;
  • Figure 2 schematically illustrates the robust control method proposed by the present invention
  • Figure 3 schematically represents a modified block scheme of the proposed control method
  • Figure 4 is a schematic illustration of a possible form of electronic implementation of the method proposed by the invention.
  • VOC output (s) the voltage sensing gain has been designated by " ⁇ ", "Ri” being the current sensing gain (in current mode control), Vref the setpoint signal for the output voltage, err__v the signal voltage loop error, Gv (s) the voltage regulator and "u” the control action of the latter.
  • tension mode control see is the comparison voltage with the PM ramp (Width Modulation of Pulse) ;
  • current mode controls see is the reference of the internal current loop. Current feedback (in dashed lines) is only done in current mode controls.
  • MR (s) ⁇ V0Cref (s), VOCref (s) being a reference model of the power stage of the converter; - Gv (s), is the regulatory element of the voltage loop; - Gem (s), is the modeling error amplifier; - err_m, is the modeling error (difference between the output of the MR controller (s) and the output voltage), and ⁇ Vo__est, is an estimate of the measure of the converter output voltage that would be taken in the event that the real power stage VOC (s) was the same as the reference model VOCref (s), in the absence of disturbances. The estimate is compared with the actual measurement ⁇ Vo, which gives the modeling error signal, err_m, at the input of the Gem amplifier block (s).
  • VOU (S) [1 + ⁇ -G em (s) -VOC re f (s)] [1] 1 + ⁇ -G em (s) -VOC (s)
  • the electronic circuit which has been designated in general with the reference numeral 1 includes the different blocks already mentioned in relation to the Figure 2 described above, appearing the interconnections between said blocks and the representation of the operational logic • provided for the realization from each of them.
  • the Gv (s) voltage loop regulator block indicated by numerical reference 2 includes an operational amplifier whose inverting input accesses the err_v signal from the output of an established operational 3 as comparator, in which the comparison between the signal of .
  • an MR controller (s) indicated with reference 4, and organized around an operational amplifier whose inverting input feeds the "u" signal from the said voltage loop regulator element 2, and at whose output the value ⁇ Vo_est already mentioned, for its connection together with ⁇ Vo, to the non-inverting input of an operational 5, structured as a comparator element, to whose inverting input the ' f ' signal Vref reference is fed, and whose output is present the ⁇ mentioned error signal err_m for its feeding to the modeled error amplifier module, indicated with the numerical reference 6, and which has been structured around an operational amplifier whose output "w” is added to the signal "u” for being said output connected to the common connection line between the output of the module 2, or voltage loop regulator element, and the controller 4, with the non-inverting input of operational 7, structured as an arrangement comparative, and from whose output
  • the main advantage is that the reference model is fixed and does not depend on the variations of the real power stage. Therefore, robustness is achieved in the face of variations in the parameters of the converter. ...
  • the reference model is a low-pass system, so that the high frequencies and consequently one of the main drawbacks present in the object of said patent P-9901708 is eliminated.
  • the method proposed by the invention can be applied to non-minimum phase systems and / or with high output voltage curls , as well as to DC-DC converters (continuous to continuous) with and without isolation, AC-DC (rectifiers) and DC-AC (inverters.)
  • the rejection of disturbances is increased (ie improved) significantly compared to previous methods
  • the expressions of closed loop audiosusceptibility and closed loop output impedance, respectively are shown in [5] and [6].
  • Z 0 (s) Z oo i (S) [6] 1 + ⁇ -G v (s) -VOC (s) + K- ⁇ -G em (s) -VOC (s) - (1+ ⁇ - G v (s) -VOC re f (s))

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Dc-Dc Converters (AREA)

Abstract

The invention relates to a system comprising a method and a robust control circuit based on the switched converter reference model, which can be used in different types of converters and which displays very low sensitivity to high ripples in the output voltage from the converter. The system employs a regulation loop which enables: (i) the dynamic conditions of the converters to be maintained independently of possible variations that may occur in the magnitude of the input voltage, the charge or the passive components of the power stage, as well as (ii) a marked reduction in the sensitivity to such disturbances.

Description

"MÉTODO Y CIRCUITO DE CONTROL ROBUSTO BASADO EN MODELO DE REFERENCIA DE CONVERTIDORES CONMUTADOS" "ROBUST CONTROL METHOD AND CIRCUIT BASED ON SWITCHED CONVERTER REFERENCE MODEL"
DESCRIPCIÓNDESCRIPTION
Objeto de la Invención La presente invención se refiere a un método y un circuito de control robusto basado en modelo de referencia de convertidores conmutados, que aporta esenciales características de novedad y notables ventajas con respecto a los medios conocidos y utilizados para los mismos fines en? el estado actual de la técnica.Object of the Invention The present invention relates to a robust control circuit and method based on a reference model of switched converters, which provides essential novelty characteristics and notable advantages over known and used means for the same purposes in? The current state of the art.
Más en particular, la presente invención propone el desarrollo de un sistema mediante el que resulta posible mejorar sensiblemente la robustez de los métodos de control en convertidores conmutados con vistas tanto al mantenimiento de las condiciones dinámicas de éstos con independencia de las eventuales variaciones que puedan presentarse tanto en las magnitudes de la tensión de entrada, la carga, o los componentes pasivos de la etapa de potencia, como a la disminución de la sensibilidad a tales perturbaciones .More particularly, the present invention proposes the development of a system whereby it is possible to significantly improve the robustness of the control methods in switched converters with a view to both maintaining their dynamic conditions irrespective of the possible variations that may occur both in the magnitudes of the input voltage, the load, or the passive components of the power stage, as well as the decrease in sensitivity to such disturbances.
El campo de aplicación de la invención se encuentra comprendido dentro del sector industrial dedicado en general a la electrónica de potencia, en especial a los sistemas de regulación y control aplicados a la conversión de potencia, y más en especial a las fuentes de alimentación conmutadas. Antecedentes y Sumario de la Invención Tradicionalmente, los lazos de regulación de convertidores conmutados se implementan analógicamente mediante amplificadores operacionales, realimentando la tensión de salida y/o la corriente en un inductor. Esto da lugar a los métodos de control basados en modulación de ancho de pulso (P M, "Pulse idth Modulation") más extendidos actualmente: el control en modo tensión o VMC ("Voltage-Mode Control") y el control en modo corriente o CMC ("Current-Mode Control") .The field of application of the invention is comprised within the industrial sector dedicated in general to power electronics, especially to the regulation and control systems applied to power conversion, and more especially to switched power supplies. Background and Summary of the Invention Traditionally, the regulation loops of switched converters are implemented analogically by operational amplifiers, feedback of the output voltage and / or the current in an inductor. This results in the most widely used control methods based on pulse width modulation (PM, "Pulse idth Modulation"): control in voltage mode or VMC ("Voltage-Mode Control") and control in current mode or CMC ("Current-Mode Control").
En todos los métodos de control de convertidores conmutados, las prestaciones dinámicas (ancho de banda, márgenes de estabilidad, audiosusceptibilidad e impedancia de salida en lazo cerrado) son sensibles a magnitudes variables tales como la tensión de entrada, las características de la carga, y los valores de los componentes pasivos de la etapa de potencia en los que se incluyen los inductores, condensadores, etc. Tanto la tensión de entrada como la carga pueden variar entre márgenes muy amplios, mientras que las variaciones de los componentes de la etapa de potencia obedecen a factores tales como las tolerancias, el envejecimiento, la temperatura, etc.In all control methods of switched converters, the dynamic performance (bandwidth, stability margins, audiosusceptibility and impedance of closed loop output) are sensitive to variable quantities such as input voltage, load characteristics, and the values of the passive components of the power stage in which inductors, capacitors, etc. are included. Both the input voltage and the load can vary between very wide margins, while the variations of the components of the power stage are due to factors such as tolerances, aging, temperature, etc.
Las experimentaciones llevadas a cabo por los inventores de la presente invención, han demostrado que es posible mejorar la robustez de los métodos de control convencionales para: 1) mantener unas especificaciones dinámicas dadas ante todas las variaciones que se han descrito anteriormente, y 2) disminuir la sensibilidad ante perturbaciones (mejorar la audiosusceptibilidad y la impedancia de salida) .Experiments carried out by the inventors of the present invention have shown that it is possible to improve the robustness of conventional control methods to: 1) maintain dynamic specifications given to all the variations described above, and 2) decrease sensitivity to disturbances (improve audiosusceptibility and output impedance).
Ya en un documento de patente anterior (número de solicitud P-9901708) . se proponía un esquema de control modo corriente media robusto (3CRACC) que cumple estos objetivos, pero presenta, no obstante, una sensibilidad acusada ante rizados elevados de la tensión de salida, por lo que su aplicación se ve fuertemente restringida a convertidores reductores (derivados del Buck) con rizados de la tensión de salida reducidos.Already in a previous patent document (application number P-9901708). a robust medium current mode control scheme (3CRACC) was proposed that meets these objectives, but nevertheless presents a marked sensitivity to high curling of the output voltage, so its application is strongly restricted to reducing converters (derivatives Buck) with reduced output voltage curls.
, La presente invención cumple los objetivos de robustez planteados y minimiza la sensibilidad ante el rizado de conmutación (a efectos prácticos, la sensibilidad es la misma que los esquemas convencionales) sin limitación alguna en cuanto al rizado de la tensión de salida del convertidor, por lo que es fácilmente aplicable a convertidores DC-DC no derivados del Buck e incluso a otras topologías de conversión AC-DC y DC-AC.The present invention meets the robustness objectives set and minimizes sensitivity to switching curling (for practical purposes, the sensitivity is the same as conventional schemes) without any limitation as to the curling of the output voltage of the converter, by which is easily applicable to DC-DC converters not derived from Buck and even to other AC-DC and DC-AC conversion topologies.
Breve Descripción de los Dibujos Las características y ventajas que definen al sistema (circuito y método) propuesto por la invención, son fácilmente deducibles a partir de las figuras de los dibujos anexos, los cuales contienen una forma preferida y no limitativa de la invención. En tales dibujos:Brief Description of the Drawings The characteristics and advantages that define the system (circuit and method) proposed by the invention are easily deductible from the figures in the attached drawings, which contain a preferred and non-limiting form of the invention. In such drawings:
La Figura 1 muestra una representación esquemática de un sistema de regulación de la tensión de salida de un convertidor conmutado, según las enseñanzas tradicionales; La Figura 2 ilustra esquemáticamente el método de control robusto propuesto por la presente invención;Figure 1 shows a schematic representation of a system for regulating the output voltage of a switched converter, according to traditional teachings; Figure 2 schematically illustrates the robust control method proposed by the present invention;
La Figura 3 representa esquemáticamente un esquema de bloques modificado del método de control propuesto, yFigure 3 schematically represents a modified block scheme of the proposed control method, and
La Figura 4 es una ilustración esquemática de una forma posible de implementación electrónica del método propuesto por la invención.Figure 4 is a schematic illustration of a possible form of electronic implementation of the method proposed by the invention.
Descripción de Formas de Realización Preferentes Tal y como se ha indicado en lo que antecede, la in ención va a ser descrita con mayor detalle en lo que sigue con ayuda de los dibujos anexos, a través de los cuales se pueden apreciar distintas representaciones esquemáticas en las que se ha asignado una referencia identificativa a cada una de las diferentes porciones que las integran.Description of Preferred Embodiments As indicated above, the invention will be described in greater detail in what follows with the help of the attached drawings, through which different schematic representations can be seen in which has been assigned an identifying reference to each of the different portions that integrate them.
Así, atendiendo en primer lugar a la Figura 1, se puede apreciar la representación de un esquema general de regulación de la tensión de salida de un convertidor conmutado cuya etapa de potencia linealizada presenta una función de transferencia de pequeña señal para el control de la tensión de salida VOC(s) . En este esquema, se ha designado mediante "β" la ganancia de sensado de tensión, siendo "Ri" la ganancia de sensado de corriente (en control modo corriente) , Vref la señal de consigna para la tensión dé salida, err__v la señal de error del lazo de tensión, Gv(s) el regulador de tensión y "u" la acción de control de este último. En control modo tensión, ve es la tensión de comparación con la rampa P M (Modulación de Ancho de Pulso) ; en controles modo corriente, ve es la referencia del lazo interno de corriente. La realimentación de corriente (en trazo discontinuo) sólo se hace en controles modo corriente. La función de transferencia de la etapa de potencia es : VOC(s)=vo(s)/vc(s) , anulando perturbaciones.Thus, according to Figure 1, the representation of a general scheme for regulating the output voltage of a switched converter whose linearized power stage has a small signal transfer function for voltage control can be seen. VOC output (s). In this scheme, the voltage sensing gain has been designated by "β", "Ri" being the current sensing gain (in current mode control), Vref the setpoint signal for the output voltage, err__v the signal voltage loop error, Gv (s) the voltage regulator and "u" the control action of the latter. In tension mode control, see is the comparison voltage with the PM ramp (Width Modulation of Pulse) ; In current mode controls, see is the reference of the internal current loop. Current feedback (in dashed lines) is only done in current mode controls. The transfer function of the power stage is: VOC (s) = vo (s) / vc (s), canceling disturbances.
Si se observa ahora la Figura 2, se puede apreciar que ésta ilustra el método de control robusto objeto de esta patente, y corresponde en general con la representación esquematizada de la Figura 1, en la que se ha incluido un circuito regulador adicional conforme a los principios de la"-'"' invención. Los nuevos bloques que aparecen en este esquema, son los siguientes:If Figure 2 is now observed, it can be seen that this illustrates the robust control method object of this patent, and generally corresponds to the schematic representation of Figure 1, in which an additional regulatory circuit has been included in accordance with the principles of the "- " "invention. The new blocks that appear in this scheme are the following:
MR(s) =βV0Cref (s) , siendo VOCref(s) un modelo de referencia de la etapa de potencia del convertidor; - Gv(s), es el elemento regulador del lazo de tensión; - Gem(s) , es el amplificador del error de modelado; - err_m, es el error de modelado (diferencia entre la salida del controlador MR(s) y la tensión de salida), y βVo__est, es una estimación de la medida de la tensión de salida del convertidor que se tendría en el caso de que la etapa de potencia real VOC(s) fuera igual que el modelo de referencia VOCref(s), en ausencia de perturbaciones. La estimación es comparada con la medida real βVo, con lo que se obtiene la señal de error de modelado, err_m, en la entrada del bloque amplificador Gem(s) . Finalmente, la salida de Gem(s), "w", se suma a la acción de control "u" procedente del regulador Gv(s) , de manera que, si se cumplen ciertas condiciones, la etapa de potencia modificada "vista" por el regulador de tensión Gv(s) , VOU(s) =vo (s) /u(s) (perturbaciones anuladas), se parece mucho al modelo de referencia elegido, el cual no se modifica con las variaciones de la tensión de entrada, de la carga y la tolerancia de los componentes de la etapa de potencia real .MR (s) = βV0Cref (s), VOCref (s) being a reference model of the power stage of the converter; - Gv (s), is the regulatory element of the voltage loop; - Gem (s), is the modeling error amplifier; - err_m, is the modeling error (difference between the output of the MR controller (s) and the output voltage), and βVo__est, is an estimate of the measure of the converter output voltage that would be taken in the event that the real power stage VOC (s) was the same as the reference model VOCref (s), in the absence of disturbances. The estimate is compared with the actual measurement βVo, which gives the modeling error signal, err_m, at the input of the Gem amplifier block (s). Finally, the output of Gem (s), "w", is added to the control action "u" from the regulator Gv (s), so that, if certain conditions are met, the stage of modified power "seen" by the voltage regulator Gv (s), VOU (s) = vo (s) / u (s) (canceled disturbances), closely resembles the chosen reference model, which is not modified with the variations of the input voltage, load and tolerance of the components of the real power stage.
La Figura 3 muestra un esquema de bloques modificado del método de control propuesto, en el que se han incluido las perturbaciones del convertidor: tensión de entrada, representada por el bloque vg(s), y corriente de carga, representada por el bloque io(s) . A partir de este esquema se '-obtiene la expresión de la etapa de potencia modificada, vOÜ.(s) =vo (s) /u (s) , definida por la ecuación (1) que sigue:Figure 3 shows a modified block scheme of the proposed control method, in which the inverter disturbances have been included: input voltage, represented by block vg (s), and load current, represented by block io ( s). From this scheme, the expression of the modified power stage, vOÜ, is obtained (v) = vo (s) / u (s), defined by equation (1) that follows:
VOC(s)VOC (s)
VOU(S) = [1 + β-Gem(s)-VOCref(s)] [1] 1 + β-Gem(s)-VOC(s)VOU (S) = [1 + β-G em (s) -VOC re f (s)] [1] 1 + β-G em (s) -VOC (s)
Finalmente, si se atiende a la Figura 4, se puede apreciar que en la misma se ha representado una forma preferida de implementación del circuito electrónico de control correspondiente al método de la invención. El circuito electrónico, al que se ha designado en general con la referencia numérica 1, incluye los distintos bloques ya mencionados en relación con la Figura 2 descrita anteriormente, apareciendo las interconexiones entre dichos bloques y la representación de la lógica • operacional prevista para la realización de cada uno de ellos. Así, el bloque Gv(s) regulador del lazo de tensión, indicado mediante la referencia numérica 2, incluye un amplificador operacional a cuya entrada inversora accede la señal err_v procedente de la salida de un operacional 3 establecido como comparador, en el que se lleva a cabo la comparación entre la señal de .referencia Vref que accede a la entrada inversora del operacional 3 y la señal βVo de medición real que accede a la entrada no inversora del mismo operacional citado; un controlador MR(s) indicado con la referencia 4, y organizado en torno a un amplificador operacional a cuya entrada inversora se alimenta la señal "u" procedente del citado elemento 2 regulador de lazo de tensión, y en cuya salida se encuentra presente el valor βVo_est ya mencionado, para su conexión junto con βVo, a la entrada no inversora de un operacional 5, estructurado como elemento comparador, a cuya entrada inversora se alimenta la señal de'f 'referencia Vref, y en cuya salida se encuentra presente la^mencionada señal de error err_m para su alimentación al módulo amplificador de error modelado, indicado con la referencia numérica 6, y el cual ha sido estructurado en torno a un amplificador operacional cuya salida "w" se suma a la señal "u" por estar dicha salida conectada a la línea común de conexión entre la salida del módulo 2, o elemento regulador de lazo de tensión, y el controlador 4, con la entrada no inversora de operacional 7, estructurado como dispositivo comparador, y de cuya salida se extrae la mencionada señal de tensión ve.Finally, if we look at Figure 4, it can be seen that a preferred form of implementation of the electronic control circuit corresponding to the method of the invention has been represented. The electronic circuit, which has been designated in general with the reference numeral 1, includes the different blocks already mentioned in relation to the Figure 2 described above, appearing the interconnections between said blocks and the representation of the operational logic • provided for the realization from each of them. Thus, the Gv (s) voltage loop regulator block, indicated by numerical reference 2, includes an operational amplifier whose inverting input accesses the err_v signal from the output of an established operational 3 as comparator, in which the comparison between the signal of . Vref reference that accesses the inverting input of operational 3 and the actual measurement signal βVo that accesses the non-inverting input of the same operational mentioned; an MR controller (s) indicated with reference 4, and organized around an operational amplifier whose inverting input feeds the "u" signal from the said voltage loop regulator element 2, and at whose output the value βVo_est already mentioned, for its connection together with βVo, to the non-inverting input of an operational 5, structured as a comparator element, to whose inverting input the ' f ' signal Vref reference is fed, and whose output is present the ^ mentioned error signal err_m for its feeding to the modeled error amplifier module, indicated with the numerical reference 6, and which has been structured around an operational amplifier whose output "w" is added to the signal "u" for being said output connected to the common connection line between the output of the module 2, or voltage loop regulator element, and the controller 4, with the non-inverting input of operational 7, structured as an arrangement comparative, and from whose output the mentioned voltage signal is extracted see.
Las mismas referencias numéricas indicadas en la Figura 4, han sido incluidas en la Figura 2 para una mayor facilidad de comprensión del conjunto. Por su parte, las distintas señales en asociación con cada uno de los dispositivos, han sido asimismo indicadas con las mismas referencias en ambas Figuras . Como comprenderán los expertos en la materia, la descripción anterior corresponde únicamente con una forma de realización preferente, y por lo tanto no debe entenderse como limitativa de la invención, sino únicamente como ilustrativa; admitiendo diversos cambios y modificaciones sin que ello afecte al alcance de la invención.The same numerical references indicated in Figure 4, have been included in Figure 2 for greater ease of understanding the set. On the other hand, the different signals in association with each of the devices have also been indicated with the same references in both Figures. As those skilled in the art will understand, the above description corresponds only to a preferred embodiment, and therefore should not be construed as limiting the invention, but only as illustrative; admitting various changes and modifications without affecting the scope of the invention.
Condiciones de robustez •<;, A partir de la ecuación [1] anterior se deduce que, si se "cumplen las condiciones expresadas en las ecuaciones [2] y |3] que siguen, la aproximación descrita por la ecuación - [4j es válida, y la etapa de potencia modificada VOU(s) que se muestra en la Figura 3 , será muy similar al modelo de referencia elegido VOCref(s), de manera que las variaciones de los elementos de la etapa de potencia real no afectarán ni a la estabilidad ni a las prestaciones del lazo de regulación. Por todo ello, se determina que [2] y [3] constituyen las condiciones de robustez del método propuesto.Robust conditions • <; , From the equation [1] above is that follows, if "meet the conditions expressed in equations [2] and | 3] below, the approach described by equation - [4j is valid, and the step of VOU modified power (s) shown in Figure 3, will be very similar to the reference model chosen VOCref (s), so that the variations of the elements of the real power stage will not affect either the stability or the performance of the regulation loop Therefore, it is determined that [2] and [3] constitute the robust conditions of the proposed method.
|β-Gem(jω)-V0Cref (jω) | » 1 [2] |τint(jω) = β-Gem(jω)-voc(jω) | » l [3] vou(jω) « V0Cref(jω) [4]| β-G em (jω) -V0C ref (jω) | »1 [2] | τ int (jω) = β-G em (jω) -voc (jω) | »L [3] vou (jω)« V0C ref (jω) [4]
Adicionalmente, debe cumplirse que [2] y [3] sean ganancias de lazo estables en lazo abierto.Additionally, it must be fulfilled that [2] and [3] are stable loop gains in open loop.
Ventajas sobre los métodos anteriores - De acuerdo con la invención,- el método propuesto consigue que la etapa de potencia modificada, VOU(s) =vo (s) /u(s) , ' se aproxime 'mucho' al modelo de referencia elegido, VOCre_(s), si se cumplen ciertas condiciones de robustez que han sido destacadas. La principal ventaja es que el modelo de referencia es fijo y no depende de las variaciones de la etapa de potencia real . Se .. consigue, pues, robustez ante variaciones en los parámetros del convertidor. ... - A diferencia con otros métodos anteriores, tal como, por-" ejemplo, el que se describe en la patente P-9901708 ya mencionada, el modelo de referencia es un sistema paso- bajo, por lo que no se amplifican las frecuencias altas y en consecuencia se elimina una de los principales inconvenientes presentes en el objeto de la citada patente P-9901708. El método propuesto por la invención puede ser aplicado a sistemas de fase no mínima y/o con rizados de la tensión de salida altos, así como a convertidores DC-DC (continua a continua) con y sin aislamiento, AC-DC (rectificadores) y DC-AC (inversores) . El rechazo de perturbaciones se incrementa (es decir, se mejora) significativamente frente a métodos anteriores. Para ilustrar este extremo, en [5] y [6] se muestran las expresiones de la audiosusceptibilidad en lazo cerrado y de la impedancia de salida en lazo cerrado, respectivamente. El factor K=l para el método propuesto, siendo K=0 para el esquema de la Fig.l. A(s) y Z0(s) son la audiosusceptibilidad en lazo abierto y la impedancia de salida en lazo abierto, respectivamente.Advantages over the previous methods - According to the invention, - the proposed method makes the stage modified power, VOU (s) = vo (s) / u (s), 'approaching' long 'to the reference model chosen, VOC re _ ( s), if certain robustness conditions that have been highlighted are met. The main advantage is that the reference model is fixed and does not depend on the variations of the real power stage. Therefore, robustness is achieved in the face of variations in the parameters of the converter. ... - Unlike other previous methods, such as, for example, "the one described in the P-9901708 patent already mentioned, the reference model is a low-pass system, so that the high frequencies and consequently one of the main drawbacks present in the object of said patent P-9901708 is eliminated.The method proposed by the invention can be applied to non-minimum phase systems and / or with high output voltage curls , as well as to DC-DC converters (continuous to continuous) with and without isolation, AC-DC (rectifiers) and DC-AC (inverters.) The rejection of disturbances is increased (ie improved) significantly compared to previous methods To illustrate this point, the expressions of closed loop audiosusceptibility and closed loop output impedance, respectively, are shown in [5] and [6]. The factor K = l for the proposed method, where K = 0 for the scheme in Fig. 1 A (s) and Z 0 (s) s on audiosusceptibility in open loop and output impedance in open loop, respectively.
A(s) Aci(S) = [5] 1 + β-Gv(s)-VOC(s)+K-β-Gem(s)-VOC(s) •(!+ β-Gv(s) -VOCref (s) )Ace) A ci (S) = [5] 1 + β-G v (s) -VOC (s) + K-β-G em (s) -VOC (s) • (! + Β-G v (s) - VOC ref (s))
Z0(s) Zooi(S) = [6] 1 + β-Gv(s)-VOC(s)+K-β-Gem(s)-VOC(s) -(1+ β-Gv(s) -VOCref (s) ) Z 0 (s) Z oo i (S) = [6] 1 + β-G v (s) -VOC (s) + K-β-G em (s) -VOC (s) - (1+ β- G v (s) -VOC re f (s))

Claims

REIVINDICACIONES
1. - Método y circuito de control robusto basado en modelo de referencia de convertidores conmutados, en especial del tipo de los métodos y circuitos de control basados en modulación de ancho de pulso (P M, "Pulse Width Modulation"), destinado a mejorar sensiblemente la robustez de los métodos de control en convertidores conmutados con vistas tanto al mantenimiento de las condiciones dinámicas de aquéllos con independencia de las eventuales variaciones que puedan presentarse tanto en las magnitudes de la tensión . de entrada, de la carga, o de los componentes pasivos de la etapa de potencia, como a la disminución de la sensibilidad frente a tales perturbaciones, que se caracteriza por la incorporación, en un convertidor de características generales, de un circuito (1) regulador adicional compuesto por un regulador (2) de lazo de tensión, un modelo de referencia (4) , y dispositivo (6) amplificador de error modelado.1. - Robust control method and circuit based on reference model of switched converters, especially of the type of methods and control circuits based on pulse width modulation (PM, "Pulse Width Modulation"), designed to improve significantly the robustness of the control methods in switched converters with a view to both maintaining the dynamic conditions of those regardless of the possible variations that may occur both in the magnitudes of the voltage. of input, of the load, or of the passive components of the power stage, such as the decrease in sensitivity to such disturbances, which is characterized by the incorporation, in a converter of general characteristics, of a circuit (1) additional regulator consisting of a voltage loop regulator (2), a reference model (4), and modeled error amplifier device (6).
2.- Método y circuito según la reivindicación 1, que se caracteriza porque una señal (βVo_est) de estimación de la medida de la tensión de salida del convertidor (VOC(s)) que se tendría en caso de que la etapa de potencia real (VOC(s)) fuera igual al modelo de referencia (VOCref(s)) en ausencia de perturbaciones, se compara con una medida real (βVo) , para la obtención de una señal de error de modelado2. Method and circuit according to claim 1, characterized in that a signal (βVo_est) for estimating the measurement of the output voltage of the converter (VOC (s)) that would be taken in case the actual power stage (VOC (s)) were equal to the reference model (VOC ref (s)) in the absence of disturbances, compared with a real measurement (βVo), to obtain a modeling error signal
(errjn) , para la aplicación de esta última a la entrada del dispositivo (6) amplificador de error modelado, de modo que la señal (w) amplificada obtenida a la salida de dicho dispositivo amplificador (S) , sumada a una señal (u) representativa de la acción de control y procedente de la salida del elemento (2) regulador del lazo de tensión, dan lugar a una señal (ve) constitutiva de una tensión de control .(errjn), for the application of the latter to the input of the modeled error amplifier device (6), so that the amplified signal (w) obtained at the output of said amplifier device (S), added to a signal (or ) representative of the control action and coming from the output of the voltage loop regulator element (2), give rise to a signal (ve) constituting a control voltage.
3. - Método y circuito de control según las reivindicaciones 1 y 2, que se caracteriza por una disminución sustancial de la audiosusceptibilidad y la impedancia de salida.3. - Method and control circuit according to claims 1 and 2, characterized by a substantial decrease in audiosusceptibility and output impedance.
4. - Método y circuito de control según las reivindicaciones 1 y 2, que se caracteriza por una sensibilidad mínima al rizado de conmutación.4. - Method and control circuit according to claims 1 and 2, characterized by a minimum sensitivity to switching curling.
5.- Utilización del método y circuito conforme a una o más' de las reivindicaciones 1 a 4, que se caracteriza porque permite ser aplicado a sistemas de fase no mínima y/o con rizados elevados de la tensión de salida.5. Use of the method and circuit according to one or more of claims 1 to 4, characterized in that it can be applied to non-minimum phase systems and / or with high curling of the output voltage.
6.- Utilización según la reivindicación 5, que se caracteriza porque puede ser aplicado tanto a convertidores6. Use according to claim 5, characterized in that it can be applied to both converters
DC-DC (continua a continua) como AC-DC (rectificadores) y DC-AC (inversores) . DC-DC (continuous to continuous) as AC-DC (rectifiers) and DC-AC (inverters).
PCT/ES2005/000050 2004-02-05 2005-02-04 Method and robust control circuit based on the switched converter reference model WO2005076446A1 (en)

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ES200400317A ES2245869B1 (en) 2004-02-05 2004-02-05 ROBUST CONTROL METHOD AND CIRCUIT BASED ON MODEL OF REFERRAL OF SWITCHED CONVERTERS.

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WO2003103119A1 (en) * 2002-06-04 2003-12-11 Koninklijke Philips Electronics N.V. Dc-dc converter

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US4885674A (en) * 1988-03-28 1989-12-05 Varga Ljubomir D Synthesis of load-independent switch-mode power converters
US5115386A (en) * 1990-10-15 1992-05-19 Hitachi, Ltd. Circuit for controlling an electric power supply apparatus, a method therefor and an uninterruptible power supply
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EP3349346A1 (en) * 2017-01-13 2018-07-18 IDT Europe GmbH Controller architecture for digital control of pwm converters
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