Chaper 6

Dynamic Modeling
Presentation #2

Dr. Weidong Xiao

School of Electrical and Information Engineering

University of Sydney, Australia

2017
c

Photovoltaic Power System: Modelling, Design, and Control 1 / 24

Outline

1 State space averaging

2 Dynamics of PV link

3 Boost converter as the PV link power interface

4 Tapped inductor topology as the PV link power interface

5 Buck-boost converter as the PV link power interface

6 Flyback converter as the PV link power interface

7 Summary of dynamics of PV link

Photovoltaic Power System: Modelling, Design, and Control 2 / 24

State space averaging

When switching-mode power converters are used for PV power interfaces, the
state space averaging technique is required to derive mathematical models.
The concept was first introduced at Power Electronics Specialists Conference
(PESC) in 1976.
After then, the method had been widely utilized for various converter
topologies in order to derive mathematical models for control analysis.
The averaging approach is based on the condition that the switching
frequency is much higher than the system critical dynamics, which are formed
by energy storage components, such as inductor and capacitor.
Under the condition, the nonlinear switching dynamics can be neglected for
dynamic analysis and controller synthesis.
Based on one switching cycle, the system state space model can be derived
from the on state and off state of the power switch.
Through averaging, the averaged value of continuous signals can be used to
form a dynamic model without the representation of switching ripples.
If it falls into nonlinearity, the linearization process is required to find a
mathematical model, which can be utilized through the linear control theorem.
Photovoltaic Power System: Modelling, Design, and Control 3 / 24
Small signal linearization for PV link dynamics

In PVSC, capacitors are required to across the PV link.

Inductors are also needed to construct the power interfaces.
The system dynamics can be expressed in the diL
general form showing the dynamics of the = f (iL , vpv , d) (1a)
dt
inductor current, iL , and the PV link voltage, vpv , dvpv
which is controlled by the switching duty cycle d. = g(iL , vpv , d) (1b)
dt
The piecewise linear or small signal model can be further derived by the
linearization process.
  
d ĩL ∂f  ∂f  ∂f 
= ṽpv + ĩL + d̃ (2a)
dt ∂vpv SS ∂iL SS ∂d SS
  
d ṽpv ∂g  ∂g  ∂g 
= ṽpv + ĩL + d̃ (2b)
dt ∂vpv SS ∂iL SS ∂d SS
where ĩL , ṽpv , and d̃ represent the small signals of the PV module voltage vpv ,
the inductor current iL , and the switching duty cycle d, respectively.
The small-signal model characterize the system dynamics and is important for
the model-based controller design.
Photovoltaic Power System: Modelling, Design, and Control 4 / 24
Boost converter for PVSC

A circuit of boost converter can be used for the PVSC, which has been
discussed in Chapter 5.
The converter is controlled by the pulse width modulation (PWM), of which the
switching duty cycle is the control input variable.

Based on the schematics, the system dynamics can be discovered according

to the CCM operation.

Photovoltaic Power System: Modelling, Design, and Control 5 / 24

State space averaging for boost converter as PVSC

When the PV link voltage is considered as the control variable, the output
voltage, Vo , is assumed to be constant for dynamic modeling.
Q on-state dynamics: Q off-state dynamics:

diL diL
L = vpv (3a) L = vpv − Vo (4a)
dt dt
dvpv dvpv
Cin = ipv − iL (3b) Cin = ipv − iL (4b)
dt dt
Averaging:
diL 1
= [vpv − (1 − d)Vo ] (5a)
dt |L {z }
f (vpv ,d,iL )
dvpv 1
= [ipv − iL ] (5b)
dt Cin
| {z }
g(vpv ,d,iL )

where d is the switching duty cycle and the control variable.

Photovoltaic Power System: Modelling, Design, and Control 6 / 24
Linearization for boost converter as PVSC

Due to the nonlinear characteristics, linearization is required to derive the

small signal model at the nominal operating condition.
Small signal model can be derived and expressed as the state-space form.

1
   
d ĩL 
VO

0  
 dt   L   ĩL + 
=  L  d̃
 

d ṽpv
  1 1  ṽpv
− 0
dt Cin RPV Cin

where the symbols of D, VPV , and IL represent the switching duty cycle, the
PV terminal voltage, the inductor current, which are considered to be constant
in steady state.
The signals of ĩL and ṽpv are the state variables; d̃ represents the control
variable in the small signal model.

Photovoltaic Power System: Modelling, Design, and Control 7 / 24

Transfer function forboost converter as PVSC

Standardized:
It can be transformed and expressed in
the transfer function. K0
G0 (s) =
Vo s2 + 2ξωn s + ωn2
−
ṽpv (s) LCin where the undamped natural frequency
=
d̃(s) 1 1 and damping factor are expressed as ωn
s2 − ( )s +
RPV Cin LCin and ξ, respectively.

This is a 2nd order system with two poles and no zero. Coefficient:
K0 is negative that represents the change of PV terminal 1
ωn = p (6a)
voltage follows the opposite direction of the duty cycle. LCin
√
When the absolute value of Rpv is higher, the damping L
becomes lighter, which causes more oscillation. ξ=− p (6b)
2Rpv Cin
The damping becomes critical when the operating point Vo
enters the current source region. K0 = − (6c)
LCin

Photovoltaic Power System: Modelling, Design, and Control 8 / 24

Modelling verification for boost converter as PVSC

When the system enter steady state, a small perturbation can be applied
periodically to the duty cycle in order to evaluate the step response of vpv .
For comparison, the small signal model works in parallel with the simulation
model
The output of the small signal model does not show any switching ripples, but
captures the critical dynamics during the transient period.

Duty Cycle (%)

The negative gain is 23
reflected by the voltage
22.5
response, which is
22
opposite to the variation 25 26 27 28 29
of the duty cycle.
vpv
Voltage (V)

The model is verified 37.5

v
since it matches very pv−small

well at the nominal 37

operating condition. 25 26 27 28 29
Time (ms)

Photovoltaic Power System: Modelling, Design, and Control 9 / 24

Tapped inductor topology for PVSC

A circuit of tapped inductor topology can be used for the PVSC, which has
been discussed in Chapter 5.
The non-isolated topology aims to increase the step-up conversion ratio of
voltage.
The converter is controlled by the pulse width modulation (PWM), of which the
switching duty cycle is the control input variable.

Photovoltaic Power System: Modelling, Design, and Control 10 / 24

State space averaging for Tapped inductor topology converter as PVSC

When the PV link voltage is considered as the control variable, the output
voltage, Vo , is assumed to be constant for dynamic modeling.
Q on-state dynamics:
Q off-state dynamics:
diL
N112 L = vpv (7a)
dt diL
N1 N112 L = N112 (vpv − vo ) (8a)
N112 = (7b) dt
N1 + N2 dvpv
Cin = ipv − iL (8b)
dvpv dt
Cin = ipv − iL (7c)
dt
Averaging by each switching cycle:
diL N112 vp v + dvpv − dN112 vpv + dN112 VO
= (9a)
dt N112 L
| {z }
f (vpv ,d,iL )
1
[ipv − iL ] (9b)
Cin
| {z }
g(vpv ,d,iL )

Photovoltaic Power System: Modelling, Design, and Control 11 / 24

Linearization for Tapped inductor topology converter as PVSC

Due to the nonlinear characteristics, linearization is required to derive the

small signal model at the nominal operating condition.
Small signal model can be derived and expressed as the state-space form.

N112 + (1 − N112 )D0

   
d ĩL 
N112 VO + (1 − N112 )VMPP

0  
 dt   N112 L  ĩL
= N112 L  d̃
 ṽpv + 
   
  1 1
d ṽpv

− 0
dt Cin RPV Cin

where the symbols of D, VPV , and IL represent the switching duty cycle, the
PV terminal voltage, the inductor current , which are considered to be
constant at steady state.
The signals of ĩL and ṽpv are the state variables that represent any small
variation; d̃ represents the control variable in the small signal model.
N112 is the index for the ratio of the winding tap.

Photovoltaic Power System: Modelling, Design, and Control 12 / 24

Transfer function for Tapped inductor topology converter as PVSC

Even though the circuit is more complex than the boost topology, the dynamic
modeling approach can follow the same except for including the winding turn
ratio.
The dynamic model can be standardized the format:
K0
G0 (s) =
s2 + 2ξωn s + ωn2
where the undamped natural frequency and damping factor are expressed as
ωn and ξ, respectively.
This is a 2nd order system with two poles and no zero.
K0 is negative that represents the change of PV terminal voltage follows the
opposite direction of the duty cycle.
When the absolute value of Rpv is higher, the damping becomes lighter, which
causes more oscillation.
The damping becomes critical when the operating point enters the current
source region.
Photovoltaic Power System: Modelling, Design, and Control 13 / 24
Modelling verification for Tapped inductor topology converter as PVSC

When the system enter steady state, a small perturbation can be applied
periodically to the duty cycle in order to evaluate the step response of vpv .
For comparison, the small signal model works in parallel with the simulation
model
The output of the small signal model does not show any switching ripples, but
captures the critical dynamics during the transient period.
57
The negative gain is

Duty Cycle (%)

56.8
reflected by the voltage
response, which is 56.6

opposite to the variation 56.4

16 18 20 22 24 26 28 30
of the duty cycle.
38
vpv
The model is verified
Voltage (V)

vpv−small
since it matches very 37.5

well at the nominal

37
operating condition. 16 18 20 22 24 26 28 30
Time (ms)

Photovoltaic Power System: Modelling, Design, and Control 14 / 24

Buck-boost converter for PVSC

A circuit of buck-boost converter can be used for the PVSC, which has been
discussed in Chapter 5.
A special note should be given for the polarity of the input and output port.
The converter is controlled by the pulse width modulation (PWM), of which the
switching duty cycle is the control input variable.

Based on the schematics, the system dynamics can be discovered according

to the CCM operation.

Photovoltaic Power System: Modelling, Design, and Control 15 / 24

State space averaging for buck-boost converter as PVSC

When the PV link voltage is considered as the control variable, the output
voltage, Vo , is assumed to be constant for dynamic modeling.
Q on-state dynamics: Q off-state dynamics:

diL diL
L = vpv (10a) L = −Vo (11a)
dt dt
dvpv dvpv
Cin = ipv − iL (10b) Cin = ipv (11b)
dt dt
Averaging:
diL 1
= [dvpv − (1 − d)Vo ] (12a)
dt |L {z }
f (vpv ,d,iL )
dvpv 1
= [ipv − diL ] (12b)
dt Cin
| {z }
g(vpv ,d,iL )

where d is the switching duty cycle and the control variable.

Photovoltaic Power System: Modelling, Design, and Control 16 / 24
Linearization for buck-boost converter as PVSC

Due to the nonlinear characteristics, linearization is required to derive the

small signal model at the nominal operating condition.
Small signal model can be derived and expressed as the state-space form.

D VPV + VO
     
d ĩL
0  
 dt  
 = L   ĩL + 
 L 
 d̃

d ṽpv
  D 1  ṽpv  IL 
− −
dt Cin RPV Cin Cin

where the symbols of D, VPV , and IL represent the switching duty cycle, the
PV terminal voltage, the inductor current , which are considered to be
constant at steady state.
The signals of ĩL and ṽpv are the state variables that represent any small
variation; d̃ represents the control variable in the small signal model.

Photovoltaic Power System: Modelling, Design, and Control 17 / 24

Transfer function for buck-boost converter as PVSC

The dynamic model can be standardized the transfer function:

K0 (βs + 1)
G0 (s) =
s2 + 2ξωn s + ωn2

where the undamped natural frequency and damping factor are expressed as
ωn and ξ, respectively.
This is a 2nd order system with two poles and one minimal-phase zero.
K0 is negative that represents the change of PV terminal voltage follows the
opposite direction of the duty cycle.
When the absolute value of Rpv is higher, the damping becomes lighter, which
causes more oscillation.
The damping becomes critical when the operating point enters the current
source region.

Photovoltaic Power System: Modelling, Design, and Control 18 / 24

Modelling verification for buck-boost converter as PVSC

When the system enter steady state, a small perturbation can be applied
periodically to the duty cycle in order to evaluate the step response of vpv .
For comparison, the small signal model works in parallel with the simulation
model
The output of the small signal model does not show any switching ripples, but
captures the critical dynamics during the transient period.
49.5
The negative gain is

Duty Cycle (%)

reflected by the voltage 49
response, which is
48.5
opposite to the variation 160 180 200 220 240 260 280 300
of the duty cycle.
vpv
The model is verified 38
Voltage (V)

vpv−small
since it matches very 37.5

well at the nominal 37

operating condition. 36.5

160 180 200 220 240 260 280 300
Time (ms)

Photovoltaic Power System: Modelling, Design, and Control 19 / 24

Flyback converter as PVSC

Even though the circuit is more complex than the buck-boost topology, the
dynamic modeling approach can follow the same.
The winding turn ratio of the flyback transformer, n, is included in the
modeling process.
Small signal model can be derived and expressed as the state-space form.

D VPV + VO /n
     
d ĩL
0  
 dt  
 = L   ĩL + 
 L 
 d̃

d ṽpv
  D 1  ṽpv  IL 
− −
dt Cin RPV Cin Cin

where the symbols of D, VPV , and IL represent the switching duty cycle, the
PV terminal voltage, the inductor current , which are considered to be
constant at steady state.
The signals of ĩL and ṽpv are the state variables that represent any small
variation; d̃ represents the control variable in the small signal model.

Photovoltaic Power System: Modelling, Design, and Control 20 / 24

Transfer function for flyback converter as PVSC

Even though the circuit is more complex than the buck-boost topology, the
dynamic modeling approach can follow the same, except for the winding turn
ratio, n.
The dynamic model can be standardized the format:
K0 (βs + 1)
G0 (s) =
s2 + 2ξωn s + ωn2
where the undamped natural frequency and damping factor are expressed as
ωn and ξ, respectively.
This is a 2nd order system with two poles and one minimal-phase zero.
K0 is negative that represents the change of PV terminal voltage follows the
opposite direction of the duty cycle.
When the absolute value of Rpv is higher, the damping becomes lighter, which
causes more oscillation.
The damping becomes critical when the operating point enters the current
source region.
Photovoltaic Power System: Modelling, Design, and Control 21 / 24
Modelling verification for flyback converter as PVSC

When the system enter steady state, a small perturbation can be applied
periodically to the duty cycle in order to evaluate the step response of vpv .
For comparison, the small signal model works in parallel with the simulation
model
The output of the small signal model does not show any switching ripples, but
captures the critical dynamics during the transient period.

The negative gain is

Duty Cycle (%)

50.6
reflected by the voltage 50.4
response, which is 50.2
opposite to the variation 160 180 200 220 240 260 280 300
of the duty cycle.
38.5 vpv
The model is verified
Voltage (V)

38 vpv−small
since it matches very 37.5
37
well at the nominal 36.5
operating condition. 160 180 200 220 240 260 280 300
Time (ms)

Photovoltaic Power System: Modelling, Design, and Control 22 / 24

Summary of dynamics of PV link

The section starts the state-space averaging approach to remove the nonliear
effect that is caused by on/off switching in most power converters.
The standard linearization is therefore introduced to develop the piecewise
linear model, or so called the small-signal model in order to represent the
dynamic response at a certain steady state.
The nonlinearity of the PV output characteristics is also linearized and
represented by either the dynamic conductance or resistance.
According to the analysis, the increasing magnitude of the dynamic
resistance, Rpv , reduces the value of the damping factor ξ in the mathematical
model.
The system becomes lightly damped that can cause oscillation or even
instability when the operating point enters the current source region since the
value of Rpv becomes high.
Therefore, a constraint should be defined to maintain the operating point
within the zones of power and voltage source.
For dynamic modeling of the PV link, the analysis and development are based
on the case study when the buck, boost, full-bridge transformer isolated,
buck-boost, and flyback converters are utilized for the PVSCs.
Photovoltaic Power System: Modelling, Design, and Control 23 / 24
Summary of dynamics of PV link

Besides the the value of Rpv , the ratio of inductance, L, and the capacitance,
Cin influences the damping performance. A concern should be given in the
design process to avoid very lightly damped system.
The values of L and Cin represents the undamped natural frequency, which is
one indicator of the dynamic speed.
This becomes a tradeoff since the fast response requires low values of of L
and Cin , but high values are preferred for low ripple levels in voltage and
current.
The modeling process and verification are also demonstrated and based on
the previous design examples.
Modelling is important to synthesize controllers for PV link voltage regulation.
With comparison, the simulation plots verify the analysis and dynamic
expectation.
In summary, it is one important step to verify the developed mathematical
model by comparing the output with the large signal simulation.
It is important for the small signal model to capture the key system dynamics,
but ignore the switching ripples in both voltage and current signals.
Photovoltaic Power System: Modelling, Design, and Control 24 / 24