A More Accurate Current-Mode Control Model
By Dr. Ray Ridley
Ridley Engineering, Inc.
ABSTRACT
For working power supply engineers, the Unitrode handbook is often the standard reference for control
analysis. This paper gives a very simple extension to the existing Unitrode models that accounts for the
subharmonic oscillation phenomenon seen in current-mode controlled converters. Without needing any
comI?lex analysis, the oscillation phenomenon, ramp addition, and control transfer function are unified
in a single model.
I. INTRODUCTION
This paper provides the simple results needed to
augment the existing single-pole model typically
used for current-mode control. These results will
allow you to:
II. BASIC CURRENT-SOURCE
DYNAMICS
The basic concept of current mode control is
shown in Fig. I.
: PWM
~
~
L
~ RC R C
I Sensed Current Ramp
Sn/V\f
J . Model and predict control transfer functions
with greater accuracy.
2. Select the proper compensation ramp.
Use a single small-signal model for both
transfer functions and current loop
stabilization.
r1rld
Duty Cycle
Compensation Ramp
-( -~YV1
---1 Ts 1--
Control
Vc
4. Decide when you need to add a ramp to your
power circuit, and how much to add.
~~
The analytical results presented here are the
result of complex modeling techniques using
sampled-data. Once armed with these equations
understanding and designing your current loop
becomes very simple. You don't need to be
familiar with any of the more complex analysis
techniques to get the full benefits of the extended
model.
Figure 1. Peak current-mode control circuit.
Instead of using just a sawtooth ramp to control
the duty cycle of the converter, a signal
proportional to the inductor current is summed
with a sawtooth ramp. In some cases, the
sawtooth ramp is omitted completely, and the
error voltage signal, VC' controls the peak value
of the inductor current.
Methods of implementing the compensating
ramp in your circuit are also discussed. The usual
methods suggested by the control IC
manufacturers are not recommended for rugged
and predictable operation.
A2-1
The situation is really very simple, as pointed out
by Holland [3] in an early paper -the current-
mode oscillation is like any other oscillation -if
it's undamped, it will continue to ring, and grow
in amplitude under some conditions. If it's
damped, the oscillations decrease and die out.
We don't usually sense the inductor current
directly- it's often inconvenient or inefficient to
do this. Usually, the power switch current is
sensed to gather the information about the
inductor current.
Early analyses of this control assumed ideal
control of the current, and modeled the system by
viewing the inductor as a controlled current
source. This is the basis of the widely used
models presented in an early paper [I] and
Unitrode handbooks [2].
A
V Output
~
--G
~R
The sampled-data or discrete-time analysis of this
phenomenon, required because of its high
frequency, has been with us for some time. So
why don't most engineers use this in their work?
Because the analysis is usually too complex.
However, it has been shown [4] that very
practical results can be simplified into an easily
usable form.
IV. SAMPLED-DA T A ANAL YSIS
Early modeling combined simple average
analysis with separate explanations of how the
current signal could become unstable. However,
the small-signal model and physical explanation
for instability were never reconciled until [4].
This paper expanded upon earlier work [5], but
found a way to simplify the results into a more
useful format.
IA
Vc Input
Other analyses have subsequently analyzed the
same issue. Many of these agree in the way the
problem is tackled and provide supporting
experimental data. Others disagree in the
methods but still come to the same conclusions
about the second-order oscillatory system that
results. They are all consistent in the values
derived.
Fig. 2. Simplest small-signal model- current
source feeding the load.
III. SUBHARMONIC OSCILLATION
The current-source analogy works fine under
many conditions, but with one problem: the
system can oscillate! This is of course, well
known and documented. And, we all know
retaining the sawtooth compensating ramp in the
control system eliminates the problem -but most
small-signal models don't tell you what this does
to the control characteristics.
That's good news -we don't need to get hung up
in conflicting sampled-data modeling techniques,
or debates about how to analyze a system, we can
use the common design equations everyone
agrees on, and get on with the job of getting
product out of the door.
Fig. 3: shows the nature of the current loop
oscillation. At duty cycles approaching 50% and
beyond, the peak current is regulated at a fixed
value, but the current will oscillate back and forth
on subsequent switching cycles.
Verror
1'.1'. 1'.1'. I'.
Fig. 3. Subharmonic oscillation waveforms.
A2-2
The load resistor and capacitor determine the
dominant pole, as we would expect for a current
source feeding an RC network, shown in Fig. 3.
v. DOMINANT POLE MODELS
The equivalent control system diagram for
current mode control is shown in Fig. 4. The
inductor current feedback becomes an inner
feedback loop. We are usually concerned with
the transfer function from the control input
shown to the output of the power converter. The
input is typically the input to the duty cycle
modulator, provided by the error amplifier
output.
(0 = -::::p r
1
In [4] there is a more accurate expression for the
dominant pole of the buck, involving the external
ramp and operating point of the converter:
Most designers are familiar with the fact that the
current feedback loop reduces the main dynamic
of the system to a dominant single-pole type
response. This is a result of viewing the inductor
as a controlled current source rather than as a
state of the system.
However, this refinement is usually unnecessary.
It only becomes important when too steep a ramp
is used, showing how the pole can move. In most
cases, the simplified form of the dominant pole is
adequate for design purposes.
The power stage transfer function zero is
determined by the equivalent series resistance of
the capacitor:
0) z = r-;;;-1
This expression for the output capacitor zero is
the same for all the converters.
B. Boost Converter
The boost converter has an additional term in the
control transfer function, caused by the right-
half-plane (rhp) zero of the converter:Fig. 4. Control system representation of current-
mode control. Current loop is embedded in the
system.
A. Buck Converter
The low-frequency model of the buck converter,
commonly used by designers, and summarized in
[2] is given by:
s 21+- (0 =p RC
and the rhp zero is at:
fp(s)=K~
1+~
(J)p
R(1- 0)2
L
WZr1lp =
A2-3
The results of existing analysis for the three main
types of converter are summarized below.
Fig. 5 shows measurements of power stage
transfer functions plotted beyond half the
switching frequency. The characteristic at half
the switching frequency is a classic double pole
response that can be seen in any fundamental text
on bode plots and control theory.
These curves are for a buck converter operating
at a 45% duty cycle. In the upper curve, there is
no compensating ramp added, and there is a
sharp peak in the transfer function at half the
switching frequency.
Note that the rhp zero expression is exactly the
same as that for voltage mode control. Using
current mode does not move this at all, although
it is easier to compensate for since we do not also
have to deal with the double pole response of the
LC filter that is present with voltage mode
control.
C. Flyback Converter
The flyback converter also has a rhp zero term in
the control transfer function:
The curves below this have increasing amounts
of compensating ramp added to them, until the
bottom curve is reached and the double poles are
overdamped.
Gain (dB)
10,
with the dominant pole determined by: 0=56
AQ=23'-i-;
1+0COp = RC Q=O4
~
-40
and the rhp zero at: 100 1 k 10k
Frequency (Hz)
100k 1M
Phase (deg)
R(1 -D)2
DL
Wzrhp =
100 1M, k 10k
Frequency (Hz)
100k
As with the boost converter, this zero location is
the same as for voltage mode control.
VI. MEASURED HIGH-FREQUENCY
EFFECTS
To account for the observed oscillation in the current
mode system, we need to add a high-frequency
correction term to the basic power stage transfer
functions.
Fig. 5. Power stage transfer .functions plotted up
to the switchingfrequency. Notice the obvious
double-pole characteristic centered at half the
switching frequency.The converter transfer functions are modified
from the above section by: Once you make this series of measurements, the
need for the correction to the power stage transfer
function becomes obvious.fp' (5) = fp(5)fh(5)
Without even considering the sampled-data type
analysis, we can see what the fonD of the transfer
function has to be. One way it becomes clear is to
measure the control-to-output transfer functions,
while adding different amounts of compensating
ramp to the system.
Mathematical theoreticians may argue that
measuring and predicting transfer functions up to
this frequency is of questionable analytical merit.
However, there is such a direct correlation
between the measurements and the oscillatory
behavior of the system, that the correction term is
vital for good and practical modeling.
A2-4
When the system transfer function peaks with a
high Q, the inductor current oscillates back and
forth, as shown in Fig. 6. When the transfer
function is well damped, the inductor current
behaves, returning quickly to equilibrium after an
initial disturbance.
Qp = I
1t"(mcD'-0.5)
The compensation ramp factor is given by:
mc = 1 + Se
SnIncluding this high frequency extension in the
model is a very practical and powerful tool -it
has real meaning to the designer. where the compensating ramp slope, Se, is:
k
Ts
s =e
and the slope of the sensed current wavefonn into
the PWM controller is:
L
Rj is the gain from the inductor current to the
sensed voltage fed into the control PWM, and
Von is the voltage across the inductor when the
switch is on. For a simple nonisolated converter
with resistive sensing, Rj is the value of the sense
resistor.
Fig. 6. Inductor current oscillation waveforms.
Waveforms correspond to a Q of 7. 6, 5.6, 2.3 and
n7
VII. ANALYTICAL RESULTS
The qualitative understanding of the double poles
is obvious. Quantitative analysis via sampled-
data, or other methods gives the simple transfer
function parameters to be used for design.
These equations are useful for anyone wanting to
model their converter and predict its response.
They will give much more accurate results than
simple single-pole models.
The high frequency term is a common expression
for all given by:
where the double-pole oscillation is at half the
switching frequency.
For those not interested in modeling, who don't
have time and just need to get on with building a
converter, the equations give you the information
you need for design, as explained in the next
section.
VIII. HOW MUCH RAMP?
So what do you need to do with this information?
The answer is simple -make sure your current
loop won't oscillate. Or, in small-signal analysis
terms, make sure the Q of the double pole is one
or less. And how do you do this? Just by adding a
compensating ramp, as all previous papers
advise.
7r
Ts
(J)n =
The damping is given by:
A2-5
How much ramp do you add? Well, going by the
small-signal theory, we just set the Q of the
double poles to one, and solve the resulting
system. Most early publications express the
amount of ramp added in terms of the off-time
ramp slope, S f .If we solve the equation for
Qp in the same terms, the result is:
IX. INSTABILITY A T LESS THAN
50% DUTY
Many publications, especially those from the
manufacturers of control chips, explicitly tell you
that you don't need to use a compensating ramp
in the circuit at duty cycles less than 50%. This
conflicts with the suggestions given above.
0.18
D
So what should you do? There are some special
circuit conditions that cause this seeming
contradiction in analysis results.
~=1-
Sf
This is not quite the same as other suggestions.
Some publications recommend adding as much
ramp as the downslope. This is more than is
needed, overdamping the system.
First, remember that the current loop oscillation
is only a problem with continuous conduction
operation (CCM) near or above 50% duty cycle.
Many converters are operated in discontinuous
conduction mode (DCM), especially ftyback
converters that are the most popular choice for
low power outputs.
Others suggest adding half as much ramp as the
downslope of the inductor current. For the buck
converter, in theory, this cancels all perturbations
from input to output. In practice, this nulling is
never achieved completely, a small amount of
noise makes it impossible.
Secondly, if you choose to use a control chip
such as the UC1842, this chip has a maximum
duty cycle capability of just under 50%. That
does not mean that the converter will ever
operate in that region -typically it will never see
more than perhaps a 40% duty cycle. More often
than not, this will not be a severe problem.
Another question is when should you start adding
a ramp to a system? Earlier simplistic analysis
says that no ramp is needed until you reach a
50% duty cycle. There is something troubling
about this. A power supply is an analog circuit. It
would be a little strange if it were fine at 49.9%
duty cycle, and unstable at 50.1 %. The analog
world just does not behave that way. In the real
world, you often need to start adding a
compensation ramp well before a 50% duty cycle
is reached.
But sometimes, with low input line, you will
operate a converter close to 50%, and you may
need to add ramp to compensate the current loop.
Consider a case of a 44% duty cycle. The double
pole peaking is determined by:
5.6
The design equation above continues to add ramp
down to an 18% duty cycle in order to keep the
Qp of the current-mode double pole equal to I.
This is probably overly conservative -a more
practical value for starting to add a compensating
ramp is at D=36%.
This can get you into trouble. Look at the power
stage gain (lower curve) in Fig. 7. The peaking
on this curve corresponds to a Qp of 5.6. With
just the current feedback loop closed, the system
is stable -the current will bounce back and forth,
but the oscillations eventually die down, as
shown in Fig. 8.
A2-6
Figure 9. Inductor current waveforms at D= 0.44,
with outer feedback loop closed. System is now
unstable, as shown by the loop gain of Fig. 7. A
plot without the double pole extension to the
model does not predict this oscillation.
10 100 1 k 10k
Frequency (Hz)
100 k 1 M
Phase (deg)
This example clearly shows why the high-
frequency extension is needed to the model.
Without it, the current loop oscillation at less
than 50% duty cycle cannot be predicted.
X. MAGNETIZING RAMP
ADDITION
Some readers of this may say -"I've built
converters at 45% duty cycle before and never
had any problem -what's the issue here?" And
they are quite correct. If you are building any
kind of forward converter, or other isolated buck-
derived topology, and sensing on the primary
switch side, you often get a free ramp.
Figure 7. Current mode instability at less than
50% duty cycle. Adding compensation to the
power stage transfer function causes the
resulting loop gain to peak up and crossover
again at half the switchingfrequency.
The magnetizing current of the main power
transformer contributes a signal in addition to the
reflected output inductor current, and this works
in exactly the same way as the compensating
ramp. The amount of slope contributed by the
magnetizing current is given by:
Figure 8. Inductor current waveforms at D= 0.44
with only the current loop closed.
Now consider what happens when the voltage
regulation loop is closed. With a crossover
frequency of 14kHz (reasonable for a 1l0kHz
converter), the phase margin at this initial
crossover frequency is close to 90 degrees.
s'e=-
Vi R
I
LM
You should always check this value when doing
your design. In most cases, the amount of ramp
that you get due to the magnetizing current is
more than enough to damp the double pole
properly. In fact, the opposite is frequently true -
the amount of ramp can often be excessive,
especially for converters with low output ripple
current, and the system can be very overdamped.
This creates additional phase delay in the control
to output transfer function, as can be seen in Fig.
5 in the lowermost curve.
But the loop gain crosses over the OdB axis again
just before half the switching frequency, this time
with no phase margin at all. The waveforms of
Fig. 9 are the result -severe oscillation in the
current loop.
A2-7
The sensitivity of the clock pin cannot be stressed
enough. The Unitrode application notes tell you
to put the timing capacitor close to the chip, but
they do not emphasize this as much as perhaps
they should. The timing capacitor is the most
crucial component in the control circuit, and it
should be placed first during layout, as physically
close to the pins of the control chip as can be
achieved.
XI. HOW TO ADD THE RAMP
A comment on ramp addition from field
experience rather than the chip manufacturer's
viewpoint is appropriate. This is a topic
frequently dismissed as trivial, but it is very
important if you want to get the best performance
out of your current-mode system.
Ridley Engineering has taught control design
courses, both theoretical, and hands- on for many
years [6]. In designing current-mode control test
circuits for these labs, we observed that the
predicted and measured responses do not match
well at all with conventional schemes for adding
a ramp to a converter.
If you don't do this, the results can be
catastrophic. On one low-power off line
converter, the timing capacitor was placed V4"
away from the pins, without a ground plane.
When the converter was started up, the clock
signal picked up switching noise, and briefly ran
at 1 MHz instead of the desired IOOkHz. The
resulting stress on the power switch was
sufficient to cause failure. Moving the capacitor
closer to the IC pins cured the problem.
The simplest proposed method for ramp addition
is to resistively sum the clock sawtooth signal
with the sensed current signal shown in Fig. 10.
This must be done with a high value of resistor in
order not to overload the somewhat delicate
clock signal. It provides a high-impedance, noise-
susceptible signal for use by the control
comparator.
It also connects additional components to the
clock pin, and will affect the clock waveforms.
JL
Gate Drive Signal
C t S "
Iurren Igna
Given this level of sensitivity, it is a good idea
not to use the clock signal for anything except its
intended purpose. Any additional components
connected to the timing capacitor introduce the
potential for noise into that node of the circuit.
Even the buffered clock signal technique, shown
in Fig. II, can cause problems.
~
Gate Drive Signal C t S ' Iurren Igna
Figure 11. Buffered signal adding the timing
ramp and currentsignalfor ramp addition. This
allows a lower summing resistor and better noise
immunity. However, it is still not recommended
to load the clock, even with a transistor.
Figure 10. Resistive summing of the timing ramp
and current signal for ramp addition. This circuit
is NOT recommended. The clock signal is very
sensitive to loading and noise, and can lead to
power supply failure if it is corrupted.
A2-8
An alternative approach to generating the ramp
signal for current-mode compensation is shown
in Fig. 12. This method uses the output drive
signal, loaded with an RC network, to generate a
compensation ramp to sum with the current mode
signal.
Correlation between measured transfer functions,
up to half t
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