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Feedback compensation techniques to improve input disturbance
response in the Cuk converter
Andrew ChuinardTim Chairet
June 10, 2009
Constant output voltage is an important feature of a DC voltage regulator. This paper describes thederivation of the equations that make up the loop gain for a Cuk converter, and how to design a compensationscheme to minimize output voltage deviation in response to change in the input voltage of the system.Through simulation it is confirmed that a PID compensation method improves the output response of thesystem.
In DC-DC voltage regulators, it is important to supply a constant output voltage, regardless of disturbanceson the input voltage. The goal of this paper is to describe a feedback compensation technique for the Cukconverter (Figure 1) to limit the voltage deviation in response to a voltage step on the input.
Figure 1: Cuk converter
In the following sections, the design requirements for this converter will be defined, followed by a derivationof a feedback model for the converter. The final section will describe two different modeling designs for theclosed-loop Cuk converter, with the advantages and disadvantages discussed for each.
Cuk converter design requirements
For this particular design, the specifications are as follows: Vg = 12V , Vo = 24V , fs = 100kHz, andRL = 12 120. The PWM conversion gain will be 1Vm =
15 , and the maximum acceptable output ripple
for the system will be 5%. For this design it is also desired to keep the converter operating in ContinuousConduction Mode (CCM) and Continuous Voltage Mode (CVM) mode, as single quadrant switches are to
be implemented. The input voltage step that will be applied at the load will stepped from 12 V to 20 V.Figure 2 shows the complete Cuk converter with the inclusion of the previously listed values.
Figure 2: Cuk converter
Component selection based on design requirements
As described above, it is desired that this converter have an output ripple of less than 5% of the outputvoltage at steady state. Applying state space analysis for second order ripple, the output ripple for V2 isfound and is shown below. For reference, all DC and ripple qauntities are summarized below:
I2 = VgR
v2 =T 2S8
(V1 + V2)DL2C2
Calculating D = 23 for the desired output voltage, it is found that the first component limiting equationfor the design is set by the voltage ripple equation, and is as shown below:
L2C2 8 (1)
The next limitation to the design is that the converter is required to operate in CCM. This requires thatonly positive currents flow through the diode.
< Id i1 + i2
2< I1 + I2
Rearranging the above equation and solving for L1 yields the second component equation:
The last component limiting requirement for the Cuk design is that the converter needs to operate inCVM. To achieve this, the steady state voltage ripple on C1 has to be less than the average voltage.
This yields the final component constraint
All three of the above design constraints will be utilized later on when component values are chosen forthe converter.
1) Modeling the Cuk converter
To design a compensation scheme to limit the change in output voltage in response to input disturbances,it is important to understand the structure of the converter control loop (shown in Figure 3). For this design,the load current is assumed constant and will have no effect on the output voltage. The main blocks to bedesigned are Gvd(s) and Gc(s), as they are the only sections of the control loop limited by the requirementsoutlined above. In the next section, the design of Gvd(s) will be presented.
Figure 3: Cuk converter control loop
Derivation of the control to output transfer function
Listed below are the fundamental equations for state space analysis. x defines the state variables of thesystem and the u variables define the inputs. The number of states is defined by the number of storageelements in the system. For the Cuk converter, there are four states. The output voltage of the converter isthe voltage across the capacitor C2.
u = vg
y = v
x = Ax+Bu
y = Cx+ Eu
Applying circuit analysis techniques, the capacitor current and inductor voltage equations are found andsummarized below for both switch positions.
With the circuit defined over the two subintervals, the A, B, C, and E matrices can be defined as shownbelow:
0 0 0 00 0 1L2
0 1C1 0 00 1C2 0
0 0 1L1 00 0 0 1L21
C10 0 0
0 1C2 0 1
0 0 D
0 0 DL2 1
0 1C2 0 1
B1 = B2 = B =
C1 = C2 = C =
[0 0 0 1
]E1 = E2 = E =
[0 0 0 0
]With the state space matrices defined, the control to output transfer function can be calculated as Gvd(s) =
C(sIA)1Bd+Ed, where Bd = (A1A2)X+ (B1B2)U and Ed = (C1C2)X+ (E1E2)U . Applyingbasic matrix manipulation techniques, Gvd(s) is calculated below. For a detailed calculation using MATLAB,please refer to Appendix 1.
X = A1BU =
Bd = (A1 A2)X + (B1 B2)U =
VgL1D VgL2D VgC1RD2
Ed = (C1 C2)X + (E1 E2)U = 0
Gvd(s) = C(sI A)1Bd+ Ed =
s2 L1C1D sD2L1D2R + 1
s4 L1C1L2C2D2 + s3 L1C1L2
D2R + s2(
+ L2C2 + D2
Since T (s) = Gvd(s)FmGc(s)H, Gvd(s) directly effects the loop gain of the system, and therefore itsstability. Looking at the result above, it is not intuitive as to what the shape of the Gvd(s) transfer functionwill look like, due to the fourth order polynomial in the denominator. In order to get a grasp on what thefourth order transfer function is doing, and to therefore be able to design with it, the transfer function needsto be factored.
Approximation 1: Cuks approximation
This section will describe the original factorization method developed for the Cuk converter, orignallypresented by Slobodan Cuk. Essentially, it is an approximation that allows the fourth order denominator toby separated into two second order factors.
Shown below is Cuks factorization of the denominator of the transfer function(s2L1C1D2
s2L2C2 + sL2R
This is not an exact factorization of the fourth order polynomial. To determine the differences in theforms, the factorization has been expanded and is shown below:
+ L2C2 +D2L1L2D2R2
Notice the difference in the s4 terms and the s2 terms. The differences imply that for this to be a goodapproximation, the differences must be negligible. This happens when the following two conditions holdtrue. Condition one:
Which reduces toC1 D2C2
Condition two: The actual s2 term requires
and the factored s2 term requiresL1C1D2
by multiplying each side by D2
D21L , this reduces to
Using Cuks factorization shown at the beginning of the section, it can be seen that there is a pair ofright half plane zeroes and also two pairs of poles as shown below.
Figures 4 - 6 show the three possible cases for the location of the poles and zeroes. As can be seen byexamination, it is desirable to use the third case shown where p2 p1 z, because the phase is above-180 degrees for a larger range of frequencies.
Due to the factorization approximations listed above, the ideal pole placement is not possible becauseC1 is required to be larger than L2 multiplied by a constant and C2 multiplied by a constant. If L1 is arealistic value (which it has to be to meet the design requirements introduced previously) then p1 and z aresmaller than p2 due to this approximation. Designing with the third case would violate the approximationconditions and thereby make the factorization not hold true. To realize the desired graphical shape, a newapproximation method is introduced in the following section.
Figure 4: p2 = p1 z
Figure 5: p2 p1 z
Approximation 2: Infinite Q
Another factorization is proposed below that is slightly different than Cuks. As such, it will be examinedin order to see if it can be utilized for a better design.(
s2L2C2 + sL2R
To determine the necessary approximations for this factorization to be valid, it has been expanded below
Note that this is not an exact factorization of the actual transfer function denominator. The real functiondenominator is shown again as reference
+ L2C2 +D2