Flexible AC Transmission Systems(FACTS)

Closed Loop Control

Dr. Avik Bhattacharya

Assistant Professor
Room No. 227, Department of Electrical Engineering
Indian Institute of Technology Roorkee
Phone: 01332285375
Email: [email protected]

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 Voltage mode control of Buck converter
• A buck converter with voltage-mode control can be stabilized with a
proportional-integral (PI) type of compensator.
• However, to have high performance a more sophisticated compensation
network is required, especially when MLCC (Multi Layer Ceramic
Capacitor) capacitors are used
• On the other hand, stabilizing a DC/DC converter with MLCC output
capacitors requires more attention as compared to stabilizing a converter
with electrolytic output capacitors.
• Depending on the type/size of the components of output filter which are
used and the design parameters (switching frequency, bandwidth, etc.

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Voltage mode control (cont..)

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 Voltage mode control (C
(Cont
ont…)
…)

Ramp generator Vramp

LC filter
PWM Vmod Vout
Compensation H1(p)
Vref Gain Network
Verror
H2(p)

This scheme comprises an error amplifier, a PWM modulator and an LC filter.

It also includes a compensation network around the error amplifier to make
the loop stable.
This compensation network contains at least one pole and two zeros (to
cope with the second order pole of the LC filter), the ultimate goal being to
obtain a closed loop transfer function equivalent to a first order system.
Marc Sabut - STMicroelectronics 4
Voltage mode control (cont..)

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Voltage mode control (cont..)

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 Voltage mode control (cont..)

Type II Type III

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 Current mode control

Ramp generator Vramp

LC filter
PWM Vmod Vout
Compensation H1(p)
Vref Gain Network
H2(p)
Iself

In this kind of regulation, the inductor current is just subtracted to the output of the
compensation network. This second internal loop helps to stabilize the system by forcing the
loop to behave like a first order system in high frequency

Marc Sabut - STMicroelectronics 8

Current mode control (Cont
(Cont…)
…)

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Current mode control (Cont
(Cont…)
…)
constant frequency

variable frequency

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Current mode control (Cont
(Cont…)
…)

variable frequency

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Current mode control (Cont
(Cont…)
…)

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Thank You

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 Current Regulated PWM
• The flux and torque output of an ac motor is directly
controlled by the current input to the motor.
• Thus having current control on the output of a voltage-fed
converter with voltage control PWM is important.
• A feedback current loop is used to control the machine
current.
• Two PWM techniques for current control will be considered:
1. Instantaneous Current Control
2. Hysteresis Band Current Control

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 Instantaneous Current Control
• The below figure shows an instantaneous current control
scheme with sinusoidal PWM in the inner control loop.

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 Instantaneous Current Control (Cont…)
• Actual current i is compared to commanded current i* and the
error fed to a proportional- integral (P-I) controller. The rest of
the circuit is the standard PWM topology. For a 3 inverter,
three such controllers are used.

• Although the control approach is simple, this method

produces significant phase lag at high frequencies which are
very harmful to high-performance drives

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 Hysteresis-Band Current Control
• In hysteresis-band current control the actual current tracks
the command current within a hysteresis band.
• In this approach a sine reference current wave is compared to
the actual phase current wave.
• As the current exceeds a prescribed hysteresis band, the
upper switch in the half-bridge is turned off and the lower
switch is turned on.
• As the current goes below the hysteresis band, the opposite
switching takes place

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Hysteresis-Band Current Control (Cont…)

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 Hysteresis-Band Current Control (Cont…)
• With upper switch closed, the positive current slope is given
by: di 0.5Vd  Vcm sin  et

dt L
where 0.5Vd is the applied dc voltage,
• Vcmsinet is the opposing load counter EMF, and L = effective
load inductance.
• Similarly, with the lower switch closed, the negative current
slope is given by: di (0.5V  V sin  t )
 d cm e

dt L
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 Hysteresis-Band Current Control (Cont…)
• Peak-to-Peak current ripple and switching freq. are related to
width of hysteresis band. Select width of hysteresis band to
optimally balance harmonic ripple and inverter switching loss.

• Current control tracking is easy at low speed but at high

speeds, when counter EMF is high, current tracking can be
more difficult.

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 Hysteresis-Band Current Control (Cont…)
• A simple control block diagram for implementing hysteresis
band PWM is shown below:

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 Hysteresis-Band Current Control (Cont…)
• The error in the control loop is input to a Schmitt trigger
circuit. The width of the hysteresis band HB is given by:

R2
HB  V
R1  R2
• Upper switch on: (i*-i) >HB
• Lower switch on: (i*-i) <-HB

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 Hysteresis-Band Current Control (Cont…)
• This approach is very popular because of simple
implementation, fast transient response, direct limiting of
device pk. current, and practical insensitivity to dc link voltage
ripple (=> small filter capacitor).
• However, PWM freq. is not const. which leads to non-optimal
harmonic ripple in machine current. Can be overcome by
adaptive hysteresis band.
• Also, significant phase lag at high frequency. drawback of this
method for high-performance drives
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Thank You

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