Proceedings of the National Conference on Emerging Technologies in Electrical System, 10 th & 11th

S.Vinod is studying ME power electronics in the Jerusalem College and

of Engineering, Pallikaranai, Chennai – 601 302 March 2006
S.Vinod S.Saravanan
(e mail : srivinodsri@yahoo.co.in phone : +919444012653) Department of EEE, Noorul Islam College of Engineering, Kumaracoil.

Neural Network Controller For Buck Boost

Converter Fed Dc Motor


Abstract— The Buck Boost converter makes it possible to

efficiently convert DC-DC voltage to either a lower or higher
voltage. Buck Boost converters are especially useful for
photovoltaic (PV) maximum power output from solar panels at
all times
The performance characteristic& analysis of Buck Boost
converter was made and it was simulated using MATLAB. The
output of the converter is fed to the DC motor. The Dc motor
transfer function model has been studied and simulated. Neural
network controller will be implemented for the Buck Boost
converter fed DC motor.
Index Terms— Buck Boost converter, Neural Network
Controller
I. INTRODUCTION
This project deals with universal learning network (ULN)
used and trained for the control of photovoltaic cell (PV)
supplying a separately excited DC motor via a DC-DC buck
boost converter. Universal learning network is used to control
the converter duty ratio so that the motor speed can follow an
arbitrary reference signal, which is called as controller
network. There are two mode of operation of controller
network. They are the training mode and continuous running
mode. In the training mode the forward propagation
algorithm update the free parameter of the network until their
error reach almost a minimum value. In continuous running
mode network use the weight matrices obtained at the end of
the training mode.
. state. The circuit diagram for each of the two states as shown
II DC-DC BUCK BOOST CONVERTER
Buck/Boost converter make it possible to efficiently convert a
DC voltage to either a lower or higher voltage. Buck/Boost
converter are especially useful for PV maximum power
tracking purpose, where the objective is to draw maximum
possible power from solar panels at all times, regardless of
the load.
A. Buck Boost Converter Mode
The three basic switching power supply topologies in
common use are the buck, boost, buck boost. These topologies
are non isolated, i.e., the input and output voltage share a
common ground.
Fig. 1 Circuit diagram of buck boost converter of non isolated, power stage
The buck boost is a popular non isolated, inverting power
stage topology, some time called a step-up/down power stage
which is shown in Fig. 1. This gets its name for producing an
output voltage that can be higher/lower than the input
voltage. The input current to the buck boost converter is
discontinuous and pulsating this is because the output diode
only conducts during a portion of the switching cycle. The
output capacitor supplies the entire load current for the rest of
the switching cycle.
B. Buck Boost conduction mode
In the continuous conduction mode, the buck boost
converter assumes two stages per switching cycle. The ON
state is when Q1 is ON and diode is OFF. The OFF state is
when Q1 is OFF and the diode is ON. A simple linear circuit
can represent each of the two stages where the switches in the
circuit are replaced by their equivalent circuit during each
in Fig. 2 and Fig. 3. The duration of the ON state is
D* Ts =Ton.
Where D is the duty cycle set by the control circuit
expressed as the ratio of the switch ON time to the time of
one complete switching cycle, Ts. The duration of OFF state
is called TOFF. Since there are only two states per switching
cycle for continuous conduction mode, T OFF=(1-D)*Ts .
The equation of load voltage is shown in Fig.2, the amount
of inductor current increases can be calculated using the
equation 2.2 and 2.3.
VL = L*di L/dt
=Δ IL = VL/ L *Δ T. … (2.1)


S.Saravanan is with Jerusalem College of Engineering Department of
Electrical and electronic , Pallikaranai, Chennai – 601 302

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 Proceedings of the National Conference on Emerging Technologies in Electrical System, 10 th & 11th
Department of EEE, Noorul Islam College of Engineering, Kumaracoil.
Fig. 2. Circuit diagram show the ON stage of buck boost converter and the
current flow from supply to R ds , L and Rl .
The inductor current increase during the ON state is given by
Δ IL(+) =
{V1 –(V DS +I L * R L)} /L *TON
Fig. 3. Circuit diagram show the OFF stage of buck boost converter
The inductor current decrease during the off stage is given
by
Δ IL (-) = - (V0 –Vd –I L * R L) /L*TOFF … (2.3)
The output voltage (Vo) can be obtained by solving the two
equations 2.2, 2.3 which is shown in 2.4.
Therefore,
V0= - [(V1-VDS) *(TON/TOFF) - VD-I L *R L *(TON + TOFF)/ TOFF]
V0 =
- [(V1-VDS) *(D/1-D) - VD-I L *R L / (1-D)]
V0= - V1 *D / (1-D) … (2.4)
C. Simulation Of Buck Boost Converter
The above shown circuit is simulated in MATLAB as
shown in Fig. 4.
Fig. 4. Simulated circuit of buck boost converter using MATLAB.
D. Critical Inductance calculation
The conduction mode of a power stage is a function of
input voltage, output voltage, output current, and the value of
inductor. A buck-boost power stage can be designed to operate
in continuous mode for load current above a certain level
usually 5-10% of full load. Usually, the input voltage, output
voltage and load current are defined by power stage
specification. This leaves the inductor value as the design
parameter to maintain continuous conduction mode.
The minimum value of the inductor to maintain continuous
conduction mode can be determine by following procedure.
March 2006
First, the minimum output current to maintain continuous
output conduction mode, normally referred to as critical
current.
LMIN >= {(Vi (min) – VQ – IL * RL)/2*ILB}*TON
= -{(VO * TS) / (2*IOB)} / {(V 2I(MAX))/(VO-V i(max))2} …(2.5)
E. Calculation Of Output Capacitor
In switching power supply power stages, the function of
output capacitor is to store energy. The output capacitor for a
boost power stage is generally selected to limit output voltage
... (2.2) ripple. To the level required by the specification. The serious
impedance of the capacitor and the power stage output
current determine the output voltage ripple. The three
elements of capacitor that contribute to its impedance are
equivalent serious inductor, resistance and capacitor the
minimum value of the capacitor required is shown in
equation 2.6.
C >= IO(MAX)*DMAX /(FS*∆VO) …(2.6)
III DEVELOPMENT OF TRANSFER FUNCTION AND SIMULATION
The MATLAB can be used for this process control. So that
many variation can be done on the process control parameter
of the motor. The motor can be implemented in MATLAB.
Therefore transfer function of the motor has to be developed
and simulated using MATLAB. PI-controller can be
introduced to have regulated output.
The response of closed loop system can be studied by using
transfer function techniques. A systematic development of the
transfer function of the various block as well as the whole
system is presented. The necessary and significant of the
various control loops and different parameters in an actual
closed loop control system are shown.
A. Motor Transfer Function
The model of the system is reduced to the lowest possible
order for simplicity. Separately excitation in a separately
excited dc motor makes the speed control of D.C motor
relatively easy. In most application the armature voltage of
the motor is controlled in a closed loop feed back system.
Current limiting features are also incorporated in the system.
Consider a separately excited D.C motor with armature
voltage control. The voltage loop equation are shown in 3.1
ea=eg+Raia+La(dia/dt) … (3.1)
where eg=KanΦ
the torque balance equation is shown in 3.2
t=T 1+bn+J(dn/dt), … (3.2)
where t=KaøIa
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 Proceedings of the National Conference on Emerging Technologies in Electrical System, 10 th & 11th
March 2006
Department of EEE, Noorul Islam College of Engineering, Kumaracoil.

In the Laplace domine form of Dc motor are shown in

equation 3.3 to 3.6

Ea(S)=E g(S)+RaIa(S)+LaIa(S) … (3.3)

Eg(S)=KaΦN(S) … (3.4)

T(S)=T 1(S)+BN(S)=JN(S) … (3.5)

Ia(s)=([Ea(S)-Eg(S)]1/Ra)/(1+T a(S)) …(3.6)

Motor transfer function as shown in 3.7

N(S) = ([T(S)-T1 (S)]1/B)/(1+T m (S)) …(3.7)

Fig.6. Circuit diagram of buck boost converter fed dc motor model simulated
using MATLAB
Using the transfer function the separately excited DC
IV SIMULATION RESULT
motor simulation is done and so that various output speed is
A. Converter Output Voltage
also obtain. The converter gives the output by the control and
The output voltage of the buck boost converter as shown in
dependent on the duty ratio of the converter and the output is
Fig. 7 and this is the output voltage of the buck boost
fed to the DC motor. The motor operates with the armature
converter when it is boost mode.
voltage Ea developed.

B. Mathematical Model Of Dc Motor

The simulation developed for the transfer function of the

separately excited DC motor using MATLAB is shown in Fig.
5. The transfer function states that varying the armature
voltage and torque varies the speed it also shows the relation
between them.

Fig. 7. Converter out put voltage when the supply is less than 180 V which is
boosted to the required level.

B. Converter output current

Fig. 5. Transfer function model of separately excited, armature control DC
motor The output current of the buck boost converter as shown in
C. Dc- Dc Converter Fed Dc Motor Fig. 8 and this is the output current of the buck boost
converter when the input voltage is less the required level .
The output from the buck boost converter is given to the dc
motor. When there is any reduction in the supply voltage form
the PV supply, the buck boost converter boost the supply
voltage and give to the DC motor as shown in Fig, 6. By
incorporating the closed loop control we can operate the
motor in the specified speed.

Fig. 8 show the output current of the buck boost converter

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 Proceedings of the National Conference on Emerging Technologies in Electrical System, 10 th & 11th
Department of EEE, Noorul Islam College of Engineering, Kumaracoil.
C. Speed curve of dc motor
The output speed of the dc motor is shown in Fig. 9
operating with load of 5.47Nm
Fig. 9 show the speed cure of the DC motor
D. BUCK BOOST CONVERTER FED DC MOTOR
The dc model is made and the supply is given from buck
boost converter. For a particular supply voltage to the
converter with corresponding pulse width, the voltage is
boosted are bucked. We obtain the following waveform for Dc
motor they are speed, armature voltage, and current through
the motor.
Fig.10 the voltage waveform with transience at the starting of the motor this with
open loop
Fig.11 the current waveform with over shoot at the starting of the motor this with
open loop
Fig.12 the speed waveform with negative speed at the starting of the motor with
no control
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March 2006
V ARTIFICIAL NEURAL NETWORK
In brain we consider each neuron as an information-
processing unit, and then the human brain can be thought of
as a massively parallel computing machine. Neural network
are software implementation of the neural dynamics and
connectivity within the human brain. A neural network is
made up of neurons and the weighted connection between
them. These weighted connection provide the capability of
modulation the signal transmission between neuron
intuitively, we can think of the weight between neuron as the
water valves. If the weight is high (e.g., the valve is fully
open), then the signal transmission from that neuron will be
very strong. On the other hand, if the weight is low, then the
signal transmission from that neuron will be very week. Then,
by modifying these weights, the network is able to learn to
perform a given task.
Neural network have two major components- an activation
(or transfer) function and a method for updating the weight,
often called the learning rule for the network. The activation
functions define how the neuron responds to the input. For
instance, it determines whether or not the neuron should fire
given a particular input. The most obvious activation function
is a simple threshold function. Such a function takes the
inputs vector, sums the vector components to yield an L 1
magnitude, and determines whether or not this magnitude lies
above some threshold value. If so, the neuron fires.
Otherwise, the neuron generates no output.
A. Block Diagram
The block diagram explains the control of the DC motor
system by feed forward network as shown in fig. 5.3. The
control network has architecture 5-8-1. Each neuron in the
hidden layer and the output layer uses a sigmoidal activation
function. The input to the controller network are: the MPP
voltage Vmg (k), the reference speed Wref(k), the previous
value of the speed W(k-1), W(k-2) and the previous value of
the duty ratio D(k). Where as the only output is the converter
duty ratio D(k) .
Fig.13 neural network controller for dc motor
 Proceedings of the National Conference on Emerging Technologies in Electrical System, 10 th & 11th
March 2006
Department of EEE, Noorul Islam College of Engineering, Kumaracoil.

To obtain the efficient performance for the controller REFERENCES

network, the error function Ec (k) shown in equation 5.5
Ec(k)=1/2T c[w(k-s)-ŵ(k-s)]2 …(5.5)
Where the Tc is the set of updating window-size factor of
the controller parameter. The controller performance can be
investigated for different shape of the reference signal and the
tracking capability can also been investigated.
[1] AHMED HUSSEIN, KOTARO HIRASAWA, JINGIU HU. “ON LINE
IDENTIFICATION AND CONTROL OF A PV SUPPLIED DC MOTOR USING
UNIVERSAL LEARNING NETWORK.”-EUROPEAN SYMPOSIUM ON ARTIFICIAL
NEURAL NETWORK, PP173-178, APRIL 2003.
[2] PIERRE CARDALIAGUET “APPROXIMATION OF A FUNCTION& ITS DERIVATIVE
WITH A NEURAL NETWORK”. IEEE TRANS. NEURAL NETWORK, VOL5, PP 207-
220, 1992.

B. Modes Of Operation
There are two modes of operation: The training mode, in
which the weight and the biases of the network are randomly
initialized and updated every window size instant based of the
feed forward propagation algorithm until no improvement in
the controller performance is achieved. The continuous
running mode, in which the operation of the network is based
on the pre-saved weights and biases that are not updated
during this mode of operation.
[3] RUBAAI.A & R.KOTARU: “ON LINE IDENTIFICATION & CONTROL OF DC
MOTOR USING LEARNING ADAPTIVE OF NEURAL NETWORK”. IEEE TRANS,
INDUSTRY APPLICATION, VOL 36, PP 935-942, 2000.
[4] WEERASOORIYA.S, M.A.ELSHARKAWI, “LABORATORY IMPLEMENTATION OF
NEURAL NETWORK TRAJECTORY CONTROLLER FOR A DC MOTOR”. IEEE
TRANS, ENERGY CONVERSION, VOL8, PP 107-113, 1993.
[5] WEERASOORIYA.S, M.A.ELSHARKAWI, “IDENTIFICATION & CONTROL OF A
DC MOTOR USING BACK PROPAGATION NEURAL NETWORK.” IEEE TRAN,
ENERGY CONVERSION, VOL.6, PP663-669, 1991.

C TRAINING ALGORITHM
Step 1: The free parameters of the network are randomly
initialized with small value.
Step 2: The controller output D (k) is calculated.
Step 3: The actual motor speed is calculated.
Step 4: The output ŵ (k) is calculated.
Step 5: Calculate the error function E c(k).
Step 6: The ordered derivative  Ec(k)/  c.
Step 7: Update the controller free parameter
Step 8: repeat from step 2 to step 7 until the controller
training error reaches a minimum value

VI CONCLUSION
The circuit diagram of buck boost converter was analyzed
with different mode and simulated using MATLAB and the
value of inductor and capacitor was calculated. The transfer
function of separately excited DC motor was developed. The
developed model is implemented using MATLAB. The
simulation results to the output which is nearer to the
theoretical output.
The concepts of using neural network in the MATLAB
package have been elaborately explained. The MATLAB
serves as a best platform for the survival of the
implementation of the NN controllers. The performance of
the NN controller and the use of MATLAB is discussed. The
algorithm required for training is also explained.

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