Threeport DCDC Converters to Interface Renewable Energy Sources with Bidirectional Load and Energy Storage Ports


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1 Threeport DCDC Converters to Interface Renewable Energy Sources with Bidirectional Load and Energy Storage Ports A DISSERTATION SUBMITTED TO THE FACULTY OF THE GRADUATE SCHOOL OF THE UNIVERSITY OF MINNESOTA BY Hariharan Krishnaswami IN PARTIAL FULFILLMENT OF THE REQUIREMENTS FOR THE DEGREE OF DOCTOR OF PHILOSOPHY August, 2009
2 c Hariharan Krishnaswami 2009
3 Acknowledgements It is a pleasure to thank the many people who have made this thesis possible. I owe my deepest gratitude to my supervisor, Professor Mohan, who has guided, mentored and supported me throughout my graduate studies. This thesis would not have been possible without his valuable inputs, good teaching and sound advice. He has always been and will be an inspiration to me. I would like to thank Professor Robbins for providing me an opportunity to teach and gain valuable teaching experience. I would like to thank Professor Wollenberg for his excellent teaching and continuous encouragement. I am grateful to Professor Imbertson for his guidance during my job as a teaching assistant. I would also like to thank Professor Rajamani for having agreed to be part of the oral exam committee. I owe my gratitude to all the Professors who have taught me in graduate school. I gratefully acknowledge the support given by Institute of Renewable Energy and Environment, University of Minnesota for this dissertation. I would like to thank my parents who have given me unfailing support and love throughout and to whom I have dedicated this thesis. I would also like to thank my family members and relatives who have inspired and continuously motivated me. My stay in graduate school has been made memorable by my friends, Ranjan, Apurva, Kaushik and Shivaraj with whom I had countless technical and personal discussions. I would also like to thank all my lab colleagues for creating a learning and fun environment. i
4 Dedication To my parents ii
5 ABSTRACT Power electronic converters are needed to interface multiple renewable energy sources with the load along with energy storage in standalone or gridconnected residential, commercial and automobile applications. Recently, multiport converters have attracted attention for such applications since they use singlestage high frequency aclink based power conversion as compared to several power conversion stages in conventional dclink based systems. In this thesis, two high frequency aclink topologies are proposed, series resonant and currentfed threeport dcdc converters. A renewable energy source such as fuelcell or PV array can be connected to one of the ports, batteries or other types of energy storage devices to the second port and the load to the third port. The series resonant threeport converter has two seriesresonant tanks, a threewinding transformer and three active fullbridges with phaseshift control between them. The converter has capabilities of bidirectional power flow in the battery and the load port. Use of seriesresonance aids in high switching frequency operation with realizable component values when compared to existing threeport converter with only inductors. Steadystate analysis of the converter is presented to determine the power flow equations, tank currents and softswitching operation boundary. Dynamic analysis is performed to design a closedloop controller to regulate the loadside port voltage and sourceside port current. Design procedure for the threeport converter is explained and experimental results of a laboratory prototype are presented. For applications where the loadport is not regenerative, a diode bridge is more economical than an active bridge at the loadside port. For this configuration, to control the output voltage and to share the power between the two sources, two control variables are proposed. One of them is the phase shift between the outputs of the active bridges and the other between two legs in one of the bridges. The latter uses phaseshift modulation to reduce the value of the fundamental of the bridge output. Steadystate analysis is presented to determine the output voltage, input port power and softswitching operation boundary as a function of the phase shifts. It is observed from the analysis that the power can be made bidirectional in either of the source ports iii
6 by varying the phase shifts. Design procedure, simulation and experimental results of a prototype converter are presented. The currentfed bidirectional threeport converter consists of three active full bridges with phaseshift control between them. Their inputs are connected to dc voltage ports through series inductors and hence termed as currentfed. The outputs are connected to three separate transformers whose secondary are configured in delta, with high frequency capacitors in parallel to each transformer secondary. The converter can be used in applications where dc currents at the ports and high stepup voltage ratios are desired. Steadystate analysis to determine power flow equations and dynamic analysis are presented. The output voltage is independent of the load as observed from analysis. Simulation results are presented to verify the analysis. iv
7 Contents Acknowledgements Dedication Abstract List of Tables List of Figures i ii iii ix x 1 Introduction Multiport dcdc converter Characteristics of multiport converter Applications of multiport dcdc converter High frequency aclink based multiport converter Existing threeport converter circuits Triple active bridge threeport bidirectional converter Triple halfbridge bidirectional converter Multipleinput buckboost converter Scope of this thesis Contributions of this thesis Organization of this thesis Conclusion v
8 2 Threeport Series Resonant Converter  Steadystate Analysis Principle of operation Twoport series resonant converter Threeport series resonant converter Analysis of port voltages and currents Steadystate power flow equations Softswitching operation boundary Peak currents in tank circuit Threewinding transformer model Modeling of threewinding transformer Modeling of transformer with resonant circuit elements Conclusion Threeport Series Resonant Converter  Dynamic Analysis Dynamic equations for the converter Averaged model of threeport series resonant converter Generalized averaging method Application to threeport converter Normalization of the state equations Steadystate results using averaged model TimeScaling for the dynamic system Controller design Conclusion Threeport Series Resonant Converter  Design and Results Design requirements Design procedure Prototype specifications Resonant converter parameters Transformer design Simulation results Simulations results at different operating points Closed loop controller simulation vi
9 4.4 Experimental results Laboratory setup Prototype results Comparison with existing threeport converter Comparison at constant switching frequency Comparison at constant voltage ratios Comparison based on magnetizing inductance Comparison conclusion Conclusion Threeport Series Resonant Converter  Loadside Diode Bridge Proposed topology and modulation schemes Steadystate analysis Equivalent circuit Steadystate equations Plots of output voltage and port power Peak tank currents Softswitching operation Design Procedure Simulation results Simulation method Simulation results at different operating points Component specifications Experimental results Experimental setup Prototype results Conclusion Currentfed Threeport Converter Introduction Proposed threeport converter Steadystate analysis Dynamic analysis vii
10 6.4.1 Statespace representation of the converter Averaging Results Simulation results Experimental results Conclusion Conclusion Conclusion Series resonant threeport converter Currentfed threeport converter Future work Bibliography 115 viii
11 List of Tables 4.1 Converter specifications Threeport converter parameters Threewinding transformer prototype details Converter specifications for comparison between TAB and TABSRC Converter parameters TAB, TABSRC at constant switching frequency TAB vs TABSRC at constant switching frequency Converter parameters for TAB, TABSRC for constant voltage ratios TAB vs TABSRC at constant voltage ratios Parameters for loadside diode bridge converter Sinusoidal approximation vs exact model Softswitching range at various loads Summary of simulation results Currentfed threeport converter specifications Currentfed threeport converter parameters ix
12 List of Figures 1.1 Block diagram of multiport dcdc converter Block diagram of threeport dcdc converter with dc link Block diagram of threeport dcdc converter with high frequency aclink Triple active bridge threeport bidirectional converter Threewinding transformer model equivalent representation Triple halfbridge bidirectional converter Multipleinput buckboost converter Twoport series resonant converter with two active bridges Proposed threeport series resonant converter circuit Converter voltage and current waveforms Plot of output voltage vs phaseshift Plot of port power vs phaseshift Port3 softswitching operation boundary Port2 peak normalized tank current Threewinding transformer Tmodel Threewinding transformer πmodel Threeport series resonant circuit for dynamic analysis Block diagram for controlling the threeport converter Operating region for the converter Calculated phaseshifts along the boundary of operating region Effect of leakage inductance on phaseshifts Simulated port waveforms at operating point B Simulated port input currents at operating point B Simulated port waveforms at operating point C x
13 4.7 Simulated port input currents at operating point C Simulated port waveforms at operating point D Simulated port input currents at operating point D Simulated output waveforms in region Simulated port waveforms in region Output voltage response with PI controller Port current responses with PI controller Output voltage response with nonlinear controller Port current responses with nonlinear controller Carrier signal and control voltages for PWM Hardware setup Port1 waveforms at operating point B Port2 waveforms at operating point B Port3 waveforms at operating point B Port1 and port2 high frequency voltage waveforms for B Port2 dc waveforms at operating point C Port3 waveforms around operating point C Port1 high frequency waveforms at operating point C Port2 high frequency waveforms around operating point C Port2 dc waveforms at operating point D Port1 and port2 high frequency voltage waveforms for D Port2 high frequency waveforms at operating point D Port3 high frequency waveforms at operating point D Dynamic response for a step change in load Threeport series resonant converter with diode bridge Bridge voltage waveforms v 1hf, v 2hf showing definitions of θ and φ AC equivalent circuit for analysis Plot of output voltage vs phaseshift angle Plot of port power vs phaseshift angle Output voltage comparison between two converters Plot of normalized peak tank currents Plot of softswitching operation region xi
14 5.9 Operating region of converter Simulated port voltages and tank currents for operating point B Simulated input port currents for operating point C Simulated port voltages and tank currents for operating point C Simulated input port currents for operating point C Simulated port voltages and tank currents for operating point D Simulated input port currents for operating point D Simulation results of peak tank currents Simulation results of peak tank voltages Simulation results of output voltage Simulation results to indicate softswitching operation range Simulation results of filter currents Hardware setup for testing Observed waveforms for operating point B Observed waveforms for operating point B (contd.) Observed waveforms for operating point B (contd.) Observed waveforms for operating point B (contd.) Observed waveforms for operating point C Observed waveforms for operating point C (contd.) Observed waveforms for operating point D Observed waveforms for operating point D (contd.) Observed waveforms for operating point D (contd.) Existing dual active bridge converter Existing inverse dual converter Waveforms of inverse dual converter Proposed currentfed threeport converter Bidirectional switch for battery port Waveforms indicating phaseshifts and capacitor voltages Equivalent circuit for steadystate analysis Output voltage waveforms vs phaseshift angles Port power vs phaseshift angles at full load Port power vs phaseshift angles at full load xii
15 6.11 Simulated winding currents  equal load sharing mode Simulated capacitor voltages  equal load sharing mode Simulated port power  equal load sharing mode Simulated winding currents  battery charging mode Simulated capacitor voltages  battery charging mode Simulated port power  battery charging mode Response in open loop for a step change in load Response in closed loop for a step change in load Observed capacitor voltages  power sharing mode Observed squarewave currents  power sharing mode Observed transformer winding3 voltage Observed capacitor voltages  power sharing mode (contd.) xiii
16 Chapter 1 Introduction Renewable energy sources such as FuelCells, PhotoVoltaic (PV) arrays are increasingly being used in automobiles, residential and commercial buildings. For standalone systems energy storage devices are required for backup power and fast dynamic response. A power electronic converter interfaces the sources with the load along with energy storage. Existing converters for such applications use a common dclink. High frequency aclink based systems have recently been explored due to its advantages of reduced part count, reduced size and centralized control. Such a high frequency aclink based converter is termed as a multiport converter in literature, to whose ports are connected the energy sources, energy storage devices and the load. In this chapter an introduction to multiport converter is given. This is followed by the context, scope, contributions and organization of this thesis. 1.1 Multiport dcdc converter Characteristics of multiport converter Multiport converter has several ports to which sources or loads can be connected as shown in Fig The converter regulates the power flow between the sources and the loads. All of the ports have bidirectional power flow capability. The characteristics of a multiport converter are, Bidirectional power flow in all of the ports 1
17 2 Source 1 Source 2 Multi port DC DC Converter Load 1 Load 2 Source m Transformer isolation High Frequency ac link Load n Figure 1.1: Block diagram of multiport dcdc converter showing m sources and n loads Control of power flow between the ports as application demands Port voltages can vary between few tenths of a volt to hundreds of volts Galvanic isolation between all ports All ports are interfaced through high frequency aclink Applications of multiport dcdc converter Rooftop solar panels are being widely used to power residential and commercial buildings. For example, the Department of Energy (DOE) has the Solar America Cities initiative to increase the deployment of solar energy in major cities [1]. Energy storage will be used to store excess power and also as a backup unit to supply vital equipments. Due to cost reasons energy storage is applicable more in offgrid applications. A threeport converter with one of the ports connected to the solar panel or the frontend converter of the solar panel, another port connected to the battery and the third port to the load can be used for such an application. It is also possible for the utility to use energy storage in these buildings to meet peak power demands [2]. Hence, a fourth port connected to the utility through a bidirectional rectifier can be added to the converter. Fuelcell automobiles are considered to be an option for future clean energy automobiles [3]. The primary source will be fuelcells with the power during acceleration and deceleration supplied from batteries. Fuelcells have slow dynamic response and hence energy storage is essential in such an application. Batteries can be charged from fuelcells and during regenerative braking operation. Threeport converter fits well into
18 3 this fuelcell vehicle application. An uninterruptible power supply (UPS) can also be considered as a threeport converter [4] The threeport converter discussed in this thesis has dc ports. If a motor or residential load needs ac, an inverter can be connected at the output of the load port. Some applications where multiport converter can be used are listed below. 1. Fuelcell hybrid automobiles Port1: Fuelcell, Port2: Batteries and/or ultracapacitors and Port3: Automobile load  Electric drive 2. Fuelcell power conditioning systems Port1: Fuelcell, Port2: Batteries and Port3: AC loads with threephase inverter 3. Offgrid residential buildings Port1: Solar panels or Fuelcells, Port2: Batteries and Port3: Residential loads 4. Gridconnected residential buildings Port1: Solar panels or Fuelcells, Port2: Batteries, Port3: Utility and Port4: Residential loads High frequency aclink based multiport converter Existing converter for the applications mentioned in the previous section use a common high voltage dc link as shown in Fig There are two stages of conversion, a dcdc converter between the source and the dc bus and a bidirectional dcdc converter between the battery and the dc bus. The load is connected to the dc bus through an inverter. Each of the dcdc converters have a separate control stage along with a centralized control for determining power sharing ratio. The dc link in Fig. 1.2 can be replaced with high frequency ac link and the number of stages can be reduced from two to one. Such a threeport converter is shown in Fig 1.3. The advantages of such an approach are [5], Single power conversion stage reduces component count on semiconductor switches, drive circuits and magnetics Reduced size due to reduced component count when compared to dc link based threeport converter
19 Source + Isolated dc dc Converter High Voltage DC Link Inverter Load 4 dc/ac Battery + Bi directional Isolated dc dc Converter Figure 1.2: Block diagram of threeport dcdc converter with dc link Source + Isolated high frequency ac link bi directional dc dc converter High Voltage DC output Inverter dc/ac Load Battery + Figure 1.3: Block diagram of threeport dcdc converter with high frequency aclink High frequency threewinding transformer provides the isolation between the three ports Due to singlestage power conversion, the converter has a centralized control for regulating the output voltage and determining the power sharing ratio The converter naturally yields to bidirectional power flow in all ports One method of building a singlestage power converter circuit interfacing multiple energy sources and the load is to emulate a multiple bus power system. The power flow is determined by the bus voltage magnitude, phase angle and the impedance of the transmission line between the buses. The active power plow between two buses with
20 voltages V 1 0 and V 2 θ is given by (1.1). 5 P = V 1V 2 sin θ (1.1) X where P = Active power flow from bus1 to bus2 V i = Voltage magnitude at bus i θ = Phase angle difference in radians between bus1 and bus2 voltages X = Transmission line reactance ωl The bus voltages are generated from dc sources using power electronic converters which can vary the magnitude, phase angle and the frequency of the bus voltages. Hence power flow can be controlled by the phase angles or voltage magnitudes or the frequency which changes the impedance or a combination of all these three methods. The impedance can be an inductor, capacitor or a resonant circuit using different connections of inductors and capacitors. Twoport converter circuits using this principle of power flow such as the dual active bridge converter [6] and series resonant converter [7] have been existing in literature. These circuits are used in highpower dcdc converters and high output voltage dcdc converters. Also these converters are predominantly used for unidirectional power flow from source to load. Hence the load side active switches are replaced by a diode bridge. For telecommunication and aerospace applications high frequency aclink based systems were explored [8,9]. They have multiple power converters powered from the same source or different sources, used mainly for paralleling operation and ac distribution. With increased use of renewable energy sources in recent years, threeport or multiport configurations with bidirectional ports have gained attraction. The principle of power flow explained using (1.1) can be extended for these applications. Several topologies and control methods have been proposed in literature. All of these topologies use inductors as the main power transfer and storage element. The following section explains the existing threeport converters. Another method of building a single stage power converter circuit is to use timesharing principle i.e., at any time instant only one of the sources will be connected to the load. This method is also explained in the following section.
21 6 I 1 V 1 + Port1 i 1lf S 1 C f1 + S 1 i L1 Phase Shift φ 13 n 13 : 1 L 1 v 1hf L 3 S 3 i ohf v ohf S 3 C o i olf V o I o R S 1 S 1 i 2lf Phase Shift φ 12 S 3 S 3 Load port Port3 I 2 S 2 S 2 V 2 + Port2 C + f2 i L2 v 2hf L 2 n 23 : 1 S 2 Battery Port S2 Figure 1.4: Triple active bridge threeport bidirectional converter 1.2 Existing threeport converter circuits Triple active bridge threeport bidirectional converter A threeport bidirectional converter using the principle explained in Section for hybrid fuelcell systems was proposed in [10]. The circuit diagram is shown in Fig. 1.4 where the fullbridges operate in square wave mode phaseshifted from each other. The phaseshift angle is assumed to be positive when lagging. The transformer can be represented as an extended cantilever model [11] as shown in Fig. 1.5 so that expressions for power flow can be derived. One of the power flow equations is given in (1.2). Note that the bus voltages are square waves. The converter proposed in [10] is a threeport extension of the dual active bridge converter [6]. One of the drawbacks of this converter is that the switching frequency and the inductor value cannot be determined independently for the same power level in (1.2). The inductor L i includes the leakage inductance of the transformer. To achieve realizable inductor values greater than or equal to the leakage inductances of the transformer, the switching frequency should be reduced. P 13 = V ( 1V 3 φ ω s L 13 1 φ ) 13 1 π (1.2)
22 v 1hf 1 : 1 V L 1 n v 1 0 V 3 φ 13 2 : 1 ohf 7 L m L 2 L 3 V 2 φ 12 1 : n1 v 2hf Figure 1.5: Threewinding transformer model equivalent representation for calculation of power flow The converter in Fig. 1.4 can perform softswitching or Zero Voltage Switching (ZVS) if the circuit parameters are adequately designed. To extend the ZVS range for load and input voltage variations, freewheeling intervals can be introduced in one or all of the bridges as explained in [12]. Apart from phaseshifting the voltage outputs of the bridges, duty cycle modulation is introduced in such a way that the average voltage is zero. This is equivalent to varying the magnitude of the fundamental of v ihf. The sources which are connected to the ports like batteries, supercapacitors have wide voltage ranges. To mitigate the effect of such variations on the range of phaseshifts and softswitching operation, a boost halfbridge stage at the input of such ports is proposed in [13]. For high power applications, a threephase version of the converter is proposed in [14]. This increases the current handling capacity of the converter. To control the output voltage and port power, a control methodology using two control loops is also given in [12,13] Triple halfbridge bidirectional converter A threeport converter using two boost halfbridges at the input ports is proposed in [15] to interface batteries and supercapacitors with fuel cell output. The voltages are very low at the battery and capacitor end and hence a boost halfbridge is used to boost the voltage and also to create a square wave at the input of the transformer. Such a circuit is shown in Fig The control of power flow uses the same principle explained in
23 8 Phase Shift φ 13 I 1 S 1 L1 C 1 n 13 : 1 S 3 C 5 C o V o I o V 1 Port1 + S 1 v 1hf C 2 v ohf S 3 C 6 R φ 12 Load port Port3 S 2 C 3 I 2 L 2 n 23 : 1 V 2 + Port2 S 2 v 2hf C 4 Battery Port Figure 1.6: Triple halfbridge bidirectional converter Section This topology is especially advantageous in interfacing very low input voltage ports. Softswitching operation is possible by appropriately selecting the circuit parameters Multipleinput buckboost converter A multipleinput buckboost converter is proposed in [16] which uses the voltage sources on a timeshared basis. At any instant of time only one source is connected to the buckboost inductor. The general circuit is shown in Fig A similar circuit can be implemented using flyback converter [17]. Bidirectional power flow can be enabled in all ports if needed, but there will not be any isolation between the ports. Matching wide voltage ranges will be difficult in this circuit without a transformer. There are several other circuits for threeport converter proposed in the literature such as the trimodal halfbridge converter having an active clamp forward converter [18], seriesparallel resonant UPS with unidirectional load port with separate modes of operation for line operation and backup operation [19], a threephase threeport UPS using a single high frequency transformer [4] and other topologies [20, 21, 22, 23, 24].
24 9 V 1 S 1 V 2 S 2 V 3 S 3 L V o 1.3 Scope of this thesis Figure 1.7: Multipleinput buckboost converter The triple active bridge threeport bidirectional converter can meet all the requirements of a multiport converter explained in Section But, one of the drawbacks of this converter is that at medium to high power, the values of the inductances become difficult to control. To get values of inductors more than the leakage inductance of the transformer the switching frequency needs to be reduced. To overcome this problem and to enable high switching frequency operation, a series resonant threeport converter is proposed in this thesis. Besides, the converter has other features such as reduced peak currents and near sinusoidal currents and voltages which simplifies the analysis. This converter is analyzed in detail in this thesis under both steadystate and dynamic operation. In applications where unidirectional load ports are used, replacing active bridge with diode bridge proves more advantageous in terms of switching losses and reduction in drive circuitry. A series resonant threeport converter for such an application is also explored in this thesis. In all the voltagefed converters described in this thesis and literature, large input filter capacitors are required to filter the switching current at the ports. Currentfed circuits are more advantageous in battery charging applications where charging currents are dc. A currentfed threeport converter is proposed in this thesis which can maintain dc currents at the ports. Detailed analysis in steadystate and dynamic operation is presented. The objective of this thesis is to suggest different circuit topologies for threeport converter which have unique advantages over existing topologies. This thesis also analyzes all the proposed topologies in detail and establishes design procedures. Simulation
25 and experimental results are presented to augment the analysis Contributions of this thesis The contributions of this thesis are: 1. A novel series resonant threeport dcdc converter with two series resonant tanks, threewinding transformer and three active bridges phaseshifted from each other for power flow control. 2. Detailed steadystate analysis of the converter to determine output voltage, port power, tank currents, tank voltages and softswitching operation boundary. 3. Dynamic analysis of the converter using generalized averaging theory and controller design to control the output voltage and port powers. 4. Phaseshift control techniques for the series resonant threeport converter with unidirectional load port configuration and detailed steadystate analysis to determine the converter variables. 5. Design procedure, simulation and experimental results for both configurations of series resonant threeport converter 6. A novel currentfed threeport dcdc converter for achieving dc currents at the ports 7. Steadystate and dynamic analysis of the currentfed threeport converter 1.5 Organization of this thesis Chapter 1 introduces the threeport converter and its applications. The existing literature on threeport converter is explained. In Chapter 2 the series resonant threeport converter is introduced and steadystate analysis is presented. The threewinding transformer model and its effect on steadystate performance is also examined. To understand the dynamic response of the converter, a dynamic model is derived and closedloop control design is explained in Chapter 3. The design of the series resonant
26 11 threeport converter is explained in Chapter 4 and simulation and experimental results are presented to verify the analysis. For unidirectional output configuration, phaseshift control techniques are proposed in Chapter 5 and detailed analysis is presented along with simulation and experimental results. For applications where dc current is desired at the ports, a currentfed topology is proposed and analyzed in Chapter 6. The design of such a converter is also presented along with simulation and experimental results. The last chapter concludes this thesis. 1.6 Conclusion In this chapter the context of the thesis is established. The multiport converter is introduced and its applications explained. Existing topologies of the threeport converter are described. The scope and contributions of this thesis are given.
27 Chapter 2 Threeport Series Resonant Converter  Steadystate Analysis Series resonant dcdc converters are used in several applications such as highvoltage and highdensity power supplies. These converters have zero switching losses due to softswitching and hence reduced size and higher power density when compared to conventional dcdc converters. They are mostly unidirectional with only two ports, source and load. With proliferation of distributed renewable energy sources, there has been recently lot of interest in integrating the source, energy storage and the load into a single stage power conversion. Resonant converters are the choice for such applications due to the aforementioned advantages. In this chapter, a threeport series resonant dcdc converter using a singlestage power conversion is proposed and analyzed. 2.1 Principle of operation Twoport series resonant converter The twoport series resonant converter which is well known in literature is shown in Fig 2.1. The transformer turns ratio is taken to be unity. The phase shift θ is between the squarewave outputs of the active bridges at either end of the resonant tank. The switching frequency F s is constant. The resonant tank voltages and currents can be assumed to be sinusoidal due to the filtering action of the resonant circuit. Hence only 12
28 13 I 1 V 1 + i 1lf S 1 Cf1 + S 1 i L1 C 1 Phase Shift θ L 1 1 : 1 S 3 i ohf S 3 C o i olf V o I o Port1 v 1hf v ohf R S 1 S 1 S 3 S 3 Figure 2.1: Twoport series resonant converter with two active bridges the fundamental of the applied square wave can be used in the calculation of tank current. The output voltage V o of the converter is given in (2.1). V 1 V o = Q 1 (F 1 1 sin θ (2.1) F 1 ) where Q 1 = Z 1 8 π R ; Z L 1 1 = ; F 1 = ω s 1 ; ω s = 2πF s ; ω 1 = ; C 2 1 ω 1 L1 C 1 V 1 V o = ) Loadside diode bridge (2.2) Q 2 1 (F 1 1 F1 There are several methods suggested in literature in varying the output voltage, 1. Phase shift angle θ [25]. 2. Switching frequency F s which changes the impedance provided by the resonant tank [7]. 3. Voltage magnitudes by pulse width modulation of the active bridges at constant switching frequency F s [26]. For very high output voltage applications, the active bridge at load side is replaced by a diode bridge. This results in the conventional series resonant converter whose output voltage is given by (2.2). It is observed that for the same switching frequency and quality ratio, the output voltage is higher with active bridge at the load side. In this Chapter the proposed converter uses phase shift angle between active bridges to control output voltage under constant switching frequency and constant voltage magnitudes.
29 14 i 1lf Phase Shift φ 13 i olf I 1 V 1 Port1 + S 1 Cf1 + S 1 i L1 Series Resonant Tank1 C 1 L 1 + v C1 n 13 : 1 S 3 i ohf v ohf S 3 C o + v o R S 1 S 1 S 3 S 3 I 2 S 2 i 2lf S 2 Phase Shift φ 12 Series Resonant Tank2 Load port Port3 V 2 + C f2 + i L2 C 2 + L 2 n 23 : 1 Port2 v C1 S 2 Battery Port S2 Figure 2.2: Proposed threeport series resonant converter circuit Threeport series resonant converter The proposed threeport series resonant converter circuit is shown in Fig 2.2. It has two series resonant tanks formed by L 1,C 1 and L 2,C 2 respectively. The input filter capacitors for port1 and port2 are C f1 and C f2 respectively. A constant voltage dc source such as fuelcell can be connected to port1. Batteries are connected to port2. The switches are realized using Mosfets enabling bidirectional current flow in all ports. The switches operate at 50% duty cycle since square wave outputs are required at the output of the bridges. Two phaseshift control variables φ 13 and φ 12 are considered as shown in Fig They control the phaseshift between the square wave outputs of the active bridges. The converter is operated at constant switching frequency F s above resonant frequency of both resonant tanks. Steadystate operation is analyzed assuming sinusoidal tank currents and voltages due to filtering action of resonant circuits, under high quality factor. The threewinding transformer is mostly a stepup transformer whose winding1 and winding2 leakage inductances come in series with the tank inductances. Winding3 leakage inductance is neglected in the analysis presented in the following sections. The effect of this leakage inductance is discussed in detail in Section 2.5.
30 15 v 1hf V 1 i L1 Î L1 i 1lf v 2hf φ 12 V 2 i L2 θ 1 Î L2 i 2lf v ohf V o i ohf θ 2 Î 3 i olf φ 12 φ 13 (a) Ts 2 θ 3 (b) φ 13 (c) Figure 2.3: (a) PWM waveforms with definitions of phaseshift variables φ 13 and φ 12 (b) Tank currents and transformer winding3 current (c) Port currents before filter Analysis of port voltages and currents The square wave outputs and the corresponding phase shifts are shown in Fig The phaseshifts φ 13 and φ 12 are considered positive if v ohf lags v 1hf and v 2hf lags v 1hf respectively. The waveforms of the tank currents and port currents before the filter are shown in Fig. 2.3b and 2.3c respectively. Phasor analysis is used to calculate the following quantities: Î L1 θ 1, ÎL 2 θ 2, ÎL 3 θ 3, I 1, I 2, I o and V o. The average value of the unfiltered output current i olf in Fig. 2.3c is given by (2.3). Phasor analysis is used to calculate Î3 (2.4), which is the peak of the transformer winding3 current. After substitution, the resultant expression for output current is (2.5). I o = 2 πî3 cos (φ 13 θ 3 ) (2.3) where Î 3 θ 3 = n 13 Î L1 θ 1 + n 23 Î L2 θ 2 (2.4) 4 π Î L1 θ 1 = π n 13V o φ 13 jω s L Î L2 θ 2 = jω sc 1 4 π V 2 φ 12 4 π n 23V o φ 13 jω s L jω sc 2 Simplifying I o = 8 n 13 V 1 π 2 Z 1 (F 1 1 F 1 ) sin φ n 23 V 2 π 2 Z 2 (F 2 1 F 2 ) sin (φ 13 φ 12 ) (2.5) L i where Z i = ; F i = ω s 1 ; ω s = 2πf s ; ω i = ; i = 1,2 (2.6) C i ω i Li C i
31 16 If the load resistance is R, the output voltage is V o = I o R as given by, V o = V 1 V 2 n 13 Q 1 (F 1 1 F 1 ) sinφ n Q 2 (F 2 1 F 2 ) sin(φ 13 φ 12 ) (2.7) where Q i = Z i 8 Rn π 2 2 i3 for i = 1,2 (2.8) The average value of port1 current i 1lf from Fig. 2.3c can be expressed as in (2.9). Substituting the peak resonant tank1 current ÎL 1 from phasor analysis, the port1 dc current is then given by (2.10). Similar derivation is done for port2 and the results are given in (2.11) and (2.12). I 1 = 2 πîl 1 cos (θ 1 ) (2.9) = 8 π 2 n 13 V o Z 1 (F 1 1 F 1 ) sin φ 13 (2.10) I 2 = 2 πîl 2 cos (θ 2 φ 12 ) (2.11) = 8 π 2 n 23 V o Z 2 (F 2 1 F 2 ) sin (φ 13 φ 12 ) (2.12) The analysis results are normalized to explain the characteristics of the converter, to compare with existing circuit topologies and to establish a design procedure. Consider a voltage base V b and a power base P b. For design calculations, the base voltage is used as the required output voltage and the base power as the maximum output power. The variable m 1 (2.13), termed as voltage conversion ratio, is defined as the normalized value of port1 input voltage referred to port1 side using turns ratio n 13. Similar definition applies for m 2 (2.13). The per unit output voltage is then given by (2.14). m 1 = V 1 ; m 2 = V 2 ; (2.13) n 13 V b n 23 V b V o,pu = V o V b = m 1 Q 1 (F 1 1 F 1 ) sin φ 13 + m 2 Q 2 (F 2 1 F 2 ) sin (φ 13 φ 12 ) (2.14) A plot of per unit output voltage using (2.14) is shown in Fig. 2.4a and 2.4b. In the plot, the values of m 1 and m 2 are chosen as 1.0. The reason for this is to maximize
32 Output voltage Vo,pu Output voltage Vo,pu φ 13 = 30 φ 13 = 60 φ 13 = Phaseshift angle φ 12 degrees (a) Q=2 Q=3 Q= Phaseshift angle φ 12 degrees (b) Figure 2.4: Output voltage in per unit Vs phaseshift angle φ 12 for different values of (a) φ 13 (b) Quality factor Q the region of softswitching operation as explained in Section 2.3. The values of quality factor at maximum load for both resonant tanks are chosen as 4.0. The reason for this is to minimize as much as possible the peak currents and voltages and at the same time achieve sufficiently high voltage conversion ratios. The ratio of switching frequency to resonant frequency is chosen as 1.1 to provide sufficiently high voltage gain. From Fig. 2.4a it can be concluded that the output voltage magnitude can be varied by the phaseshift angles. From the plot in Fig. 2.4b it is clear that the output voltage is load dependent. But due to the presence of two resonant tanks the drop in voltage due to variation in quality factor is less when compared to twoport converters. It is also possible to regulate the output voltage to 1.0 pu by adjusting the two phaseshift angles. 2.2 Steadystate power flow equations The port power can be calculated from the average value of the port currents. The expressions are then converted into per unit. The final port1 and port2 power in per
33 18 unit after simplifications are given by (2.15) and (2.16) respectively. P 1,pu = P 1 P b = P 2,pu = P 2 P b = m 1 I o,pu Q 1 ( F 1 1 F 1 ) sin φ 13 (2.15) m 2 I o,pu Q 2 ( F 2 1 F 2 ) sin (φ 13 φ 12 ) (2.16) P o,pu = P 1,pu + P 2,pu (2.17) where R b = V b 2 ; P b I b = V b R b ; R pu = R R b ; I o,pu = I o I b Plots of port1 and port2 power in per unit as a function of phaseshift φ 13 are shown in Fig. 2.5a and 2.5b for three different quality factors. Since there are two phaseshift variables, phaseshift φ 13 is varied and the phaseshift φ 12 is chosen such that the output voltage in per unit V o,pu is kept constant at 1 pu. The output power P o,pu at maximum load Q = 4.0 is 1.0 pu. It is observed from Fig. 2.5a that the port1 power does not vary with load as long as output voltage is maintained constant. The phaseshift φ 13 is kept positive for unidirectional power flow in port1. Port2 power P 2,pu can go negative as seen from the plot and hence used as the battery port. In the plots, the values of m 1 and m 2 are chosen as 1.0 and F 1 and F 2 as Softswitching operation boundary The conditions for softswitching operation in the active bridges can be derived from Fig If port1 and port2 tank currents lag their applied square wave voltages, then all switches in port1 and port2 bridges operate at Zero Voltage Switching (ZVS). This translates to θ 1 > 0 for port1 and θ 2 φ 12 > 0 for port2. Note that angles are considered positive if lagging, in the analysis. Using phasor analysis, the softswitching operation boundary conditions are given by (2.19) and (2.21) for port1 and port2 respectively. θ 1 > 0 For Port1 (2.18) V o,pu cos φ 13 m 1 < 0 For Port1 (2.19) θ 2 φ 12 > 0 For Port2 (2.20) V o,pu cos (φ 13 φ 12 ) m 2 < 0 For Port2 (2.21)
34 Port1 power P1,pu Port2 power P2,pu Q 1 = Q 2 = 2 Q 1 = Q 2 = 3 Q 1 = Q 2 = Phaseshift angle φ 13 in degrees (a) Phaseshift angle φ 13 in degrees (b) Figure 2.5: Port power in per unit Vs phase shift angle φ 13 for different values of quality factor (a) Port1 (Note: The plot remains same for different values of quality factor) (b) Port2 For bridge in port3, based on the definitions of current indicated in Fig. 2.2, the condition changes to leading current for ZVS. This translates to θ 3 φ 13 < 0 for port3. The softswitching operation boundary condition is given by (2.23). θ 3 φ 13 < 0 (2.22) ( Q 1 F 1 1 )(m 2 cos (φ 13 φ 12 ) V o,pu ) F ( 1 +Q 2 F 2 1 )(m 1 cos φ 13 V o,pu ) < 0 (2.23) F 2 If V o,pu is regulated at 1 pu and m 1 and m 2 are chosen to be equal to or greater than 1, all switches in port1 and port2 operate at ZVS. For port3, with the same conditions, the quantities m 1 cos (φ 13 φ 12 ) and m 1 cos φ 13 are always less than or equal to V o,pu and hence ZVS is possible in all switches in port3. A plot of softswitching operation boundary using (2.23) is given in Fig. 2.6 for three values of m 1 and m 2 under varying φ 13 with output voltage maintained constant at 1 pu. ZVS in port3 is particularly important since output voltage is normally higher than either of the port voltages.
35 20 Port3 soft switching operation boundary m 1 = m 2 = 0.75 m 1 = m 2 = 1.0 m 1 = m 2 = Phaseshift angle φ 13 in degrees Figure 2.6: Port3 softswitching operation boundary for various values of m 1 and m 2 Hence in design m 1 and m 2 are chosen to be Peak currents in tank circuit The peak tank currents ÎL 1 and ÎL 2 are normalized with respect to corresponding tank impedance. The final expressions are given by (2.24) and (2.25). A plot of port2 peak current as a function of φ 13 for various values of load quality factors is shown in Fig In this plot φ 12 is chosen in such a way to maintain output voltage constant at 1 pu. Also, the values of m 1 and m 2 are chosen as 1.0. From Fig. 2.7 and Fig. 2.5b, it can be observed that port2 peak tank current is maximum when it is supplying the full load and is minimum when it is not supplying any power. In Chapter 4, a specific design is explained and peak currents are calculated for all operating conditions. Î L1 (norm) = π Î L2 (norm) = 4 π 1 + ( Vo,pu m 1 ( Vo,pu m 2 ) 2 2V o,pu cos φ 13 m 1 (2.24) ) 2 2V o,pu cos (φ 13 φ 12 ) m 2 (2.25) where Î Li (norm) = Î Li Z i ( F i 1 F i ) ; i = 1,2 (2.26)
36 21 Port2 peak normalized tank current 2 1 Q 1 = Q 2 = 2 Q 1 = Q 2 = 3 Q 1 = Q 2 = Phaseshift angle φ 13 in degrees Figure 2.7: Port2 peak normalized current vs φ 13 for various values of load quality factors It is clear from the plot in Fig. 2.7 that the peak currents increase as the quality factor is increased. This is one of the drawbacks of resonant converters. High quality factor is required for validity of sinusoidal approximation. A tradeoff is required in choosing Q at full load to justify sinusoidal approximation and to achieve lower peak currents. In this thesis the quality factor at full load is chosen as Threewinding transformer model In this section, the effect of the nonidealities of the threewinding transformer is discussed. Specifically, the effect of the magnetizing inductance L m and the three leakage inductances L lk1, L lk2 and L lk3, as shown in Fig. 2.8, on the output voltage and port power expressions are examined. As explained in Section 2.1.2, the winding1 and winding 2 leakage inductances appear in series with the resonant inductors and the values L 1, L 2 include the value of these leakage inductances as shown in Fig To analyze the power flow it is necessary to convert the Tmodel of the transformer into a π model or an extended cantilever model [11].
37 22 C 1 + L 1 = L 1 + L lk1 n 13 : 1 L lk3 + v 1hf L m v ohf C 2 L 2 = L 2 + L lk2 + v 2hf n 23 : 1 Figure 2.8: Threewinding transformer model including the leakage inductances i 1 + v 1 i 2 + v 2 Z 1 n 13 : 1 Z m Z 3 i3 + Z 2 v 3 + v 1 Z m0 1 : 1 Z 13 Z 23 Z 12 1 : n 3 1 : n 2 + v 3 + v 2 n 23 : 1 (a) (b) Figure 2.9: Threewinding transformer (a) Tequivalent circuit (b) Extended Cantilever circuit or π equivalent model Extended cantilever model of threewinding transformer Multiwinding transformers are commonly used in multioutput dc power supplies. In the context of crossregulation i.e., the effect of closed loop control in one output over the other output, an extended cantilever model has been proposed in [11]. This model along with the Tmodel is shown in Fig There are three separate twowinding transformers with the impedances connected in between. The magnetizing inductance is reflected to one of the transformers. Instead of inductances, Fig. 2.9 shows impedances since the threeport converter has resonant circuit elements. The relation between the parameters derived in [11] using inductances is extended here using the impedances of the resonant tanks.
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