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fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/TIE.2020.2969126, IEEE
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An Active Damping Strategy for Input Impedance

of Bidirectional Dual Active Bridge DC-DC
Converter: Modelling, Shaping,
Design, and Experiment
Yuanpeng Guan, Yunxiang Xie, Yu Wang, Member, IEEE, Yi Liang, and Xuemei Wang, Member, IEEE

Abstract — The dual-active-bridge (DAB) converter is vh1 Converter primary H - bridge output voltage
applied for power transmission and voltage conversion in vh2 Converter side H - bridge output voltage
DC power grid. To improve the quality of input current, an
u *
References of input voltage
input LC filter is cascaded to DAB converter. However, due in

to the interaction between LC filter and DAB converter, uo* References of output voltage
substantial oscillation and instability occur, leading to the io* References of output current
excessive electromagnetic interference, large voltage Gvo Output voltage controller
ripple and power loss and even operation failure. To solve Gvi Input voltage controller
this issue, an active damping strategy is proposed to
Gi Output current controller
reshape the small-signal input impedance by parallel
virtual impedance. The input voltage is regarded as a Gi1d Phase-shift-angle-to-input-current transfer function
control objective, as well as the output voltage, therefore, a Gi1uo Output-voltage-to-input-current transfer function
triple-closed-loop control structure is established. Besides, Gi2d Phase-shift-angle-to-output-current transfer function
all dynamics of controllers are considered for the input Gi2uin Output-voltage-to-output-current transfer function
impedance modelling of DAB converter. Moreover,
Guouin Input-voltage-to-output-voltage transfer function
compared with traditional methods, an active damping
method for cascaded DAB converter with LC filter is Gu0d Phase-shift-angle -to-output-current transfer function
adopted to design the virtual impedance and controller, ZO Output impedance
suppressing resonance of LC filter and achieve a larger n Turns ratio of high-frequency transformer
bandwidth. Therefore, a more stable and rapid dynamics fs Switching frequency
cascaded system composed of DAB converter and LC filter
LDC, CDC Input LC filter
are achieved. Finally, a prototype is set up and the
effectiveness and superiority of proposed strategy are C2 Output capacitor
verified by experiments.  Lr Leakage inductance of high-frequency transformer and
Resonant inductance
Index Terms — Dual-active-bridge; Active damping; Yorg Original input admittance of DAB converter
Input impedance; Triple-close-loop control.
Yeq Reshaped equivalent input admittance of DAB converter
NOMENCLATURE Yvir Virtual impedance of DAB converter.
P Delivered power
uin Input voltage
u1 DC bus voltage
uo Output voltage I. INTRODUCTION
i1 Input current

R
ECENTLY, the direct-current (DC) microgrid is as a hot
i2 Output current topic and developed rapidly, due to its advantage of low
D Phase shift ratio cost, simple construction and control, and high energy
conversion for distributed energy resource and energy storage
Manuscript received September 6, 2019; revised December 14, 2019; [1]-[2]. Thus, DC voltage conversion and bidirectional power
accepted January 6, 2020. This work was supported by the National transmission are necessary for DC microgrid by isolated
Natural Science Foundation of China under grant no. 51577074. bidirectional DC-DC converter (IBDC). Due to the flexible
( Corresponding author: Yu Wang )
Y. Guan, Y. Xie, and X. Wang are with the School of Electric Power, power flow control, zero-voltage-switching, high efficiency
South China University of Technology, Guangzhou 510641, China. and modular structure, the dual-active-bridge (DAB) DC-DC
(e-mail: [email protected]; [email protected]; epxmwang converter is widely employed and investigated [3]-[7]. It has
@scut.edu.cn).
Y. Wang is with the School of Automation, Guangdong University of become one of the most attractive IBDC topologies for DC
Technology, Guangzhou 510006, China. (e-mail: xiaodou10@126. grid[8], solid-state transformer[9], automotive application [10],
com.) energy storage system[11], and aerospace application [12][13].
Y. Liang is with Guangzhou Automobile Group Co. Ltd, Guangzhou
510641, China. (e-mail: [email protected].)

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subsystem, is feedforward to work as a virtual impedance in

series with inductor. In literature [29] the load current feed-
forward of source sub-system presents an active damping
method to improve power load transient responses. However,
for a cascaded system, its source sub- system might be an
Fig. 1. Cascaded system uncontrollable device or an input filter [30]. Therefore, above
methods may be useless in some special applications. Shaping
The high-frequency switching DAB converter generates the input impedance of load sub-system becomes very
substantial harmonics at integer multiples of the typically high necessary for cascaded systems.
fundamental switching frequency, which pollute the power In the method based on load sub-system, the disturbances are
system [14]. Thus, an input LC input filter is cascaded to DAB injected into the control loop of load sub-system to damp the
converter to improve the input voltage and current quality [14]- oscillations. In literature [31], the parallel virtual impedance
[15]. However, in the cascaded system, input characteristic of and series virtual impedance are derived, and the corresponding
DAB converter behaves as a constant power load (CPL). It may realization methods are proposed for load sub-system through
cause substantial voltage oscillation and instability issues [16], input voltage feed-forward and input current feed-forward. In
due to the negative incremental impedance exhibited by CPL. literature [32], the capacitor voltage of input LC filter is
Moreover, the input voltage is also a key performance of feed-forward via two active methods to modify the input
system stability. In an unstable system, input voltage would impedance to stabilize the system. One is by a band-pass filter,
present an oscillation or divergence performance. Besides, in another is by a bandpass filter and a low-pass filter. In literature
the unstable DAB converter system, a lower output voltage [33], the inductor current perturbation of input LC filter is
quality, a complicated control and a physical health problem of injected into the load sub-system control loop to suppress the
DAB circuit would be behaved [17]. oscillation and improve the stability margin. In literature [34],
To reduce voltage oscillation and maintain system stability, a an active damping method realized by model predictive control
reasonably low filter cut-off frequency is used. Conventionally, algorithm is proposed for regulation of the load sub-system.
a large capacitor in LC filter is selected to create a lower filter However, in aforementioned literatures, the original input
cut-off frequency [18]-[20]. However, this is not effective for impedance of load sub-system is simplified as an ideal negative
designed applications and not adequate to achieve low volume, impedance (-Vin2/Pin), neglecting the high-order components
light weight and reduced power loss. In damping method, the caused by controllers It has a bad influence on the dynamics of
passive method is usually employed in engineering by adding a system. Thus, it is necessary to establish an accuracy small-
suitable resistor [21]. In literature [22], three different passive signal input impedance for DAB converter. However, the
damping circuits are studied: RC parallel, RL series, and RL existing researches on input impedance of DAB converter are
parallel. However, an energy is loss through resistor. Thus, the insufficiency. In literature [35], an input impedance of DAB is
virtual impedance based active damping methods become a derived through the generalized average modeling. However, it
research tend to maintain the system stability and achieve low always relies on the converter specific relationships to simplify
input voltage ripple for DAB converter. the complete expressions for practical applications.
The active methods for stabilizing the cascade system mainly On the other hand, input voltage Vin is also a characteristic,
includes two categories. One is based on source sub-system, and the relation Vin/VS presents whole Eigen values [36]. In
another is based on load sub-system. As shown in Fig. 1, a addition, the input voltage is validated in experiment to show
cascaded system is divided into source and load sub-system. Vs, the system stability. Besides, literature [37] establishes state
Vin, and Vo are bus voltage of the system, input voltage of load function of LC filter with negative impedance, and analyzes the
sub-system, and output voltage of system, respectively. Zo and corresponding Eigen values before reshaping the input
Zin are the output impedance of source sub-system and input impedance of load sub-system. It is described that the input
impedance of load sub-system. In the method based on source voltage Vin is divergent in experiments, when input impedance
sub-system, the output impedance is reshaped. In literature [23], is negative [38], [39]. Thus, the CPL is emulated as a positive
the damping can be achieved by energy storage system (ESS) in impedance during any disturbance, and the instability can be
cascaded system. From power point of view, ESS supplies a avoided [37], [40-42]. However, above literatures focus on the
stabilizing power injected into the CPL. However, a redundant applications of Nyquist stability criterion or Middle-brook
device is necessary. This idea is also applied in active damping criterion to ZO/Zin or Eigen value analysis on 1+ZO/Zin for
methods, and active damping current and power paths are determining system stability. They don’t theoretically analyze
achieved by an additional stabilization term into the traditional the system stability after reshaping input impedance of load
control loop. In literatures [24] and [25], the output voltage of sub-system, from the input voltage point of view.
source sub-system (buck converter) is feedback to provide Moreover, the input voltage of load sub-system is in a
virtual impedance as stabilizer. In literatures [26], the inductor positive feed-forward loop to achieve active damping. The
current of input LC filter of load sub-system is feedforward to input voltage isn’t deemed as a control objective usually.
source subsystem to provide virtual impedance as stabilizer in However, it may reduce the input voltage and leads to the
series with inductor of input LC filter. In literatures [27] and limitation of output voltage and power [43]. Furthermore, in the
[28], the inductor current of buck converter, the source previous methods [42], [44], the input voltage of DC-DC

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The remaining parts of this paper are organized as follows. In

section II, the small-signal input impedance with and without
input voltage close-loop are discussed, and the triple-close-loop
active damping strategy is proposed. In section III, the input
voltage controller is designed, and its process and principle are
proposed in the perspective of input voltage of DAB converter.
In section IV, the experiments verify the effectiveness and
advantages of proposed strategy. Finally, a conclusion of this
Fig. 2. DAB DC-DC converter with LC filter paper is drawn in section V.

II. SMALL-SIGNAL INPUT IMPEDANCE MODELLING OF DAB

CONVERTER

A. Triple-close-loop Active Damping Control Strategy

In Fig. 2 and 3, the DAB converter includes LC filter, full
bridges H1 and H2, and high-frequency (HF) transformer with
turns ratio n. LDC and CDC construct input LC filter; C2 is output
capacitor; u1, uin, i1, uo, and i2 are DC bus voltage, input voltage,
input current, output voltage and output current, respectively. ih
is high-frequency link current. The triple-close-loop active
damping control strategy for DAB converter is shown in Fig.
3(a), which includes input voltage loop, output voltage loop,
and output current loop. Besides, the output voltage loop and
output current loop construct traditional dual-close-loop,
(a) shown in Fig. 3(b). ͈ , , and are the references of uin, uo,
and i2, respectively. Lr presents leakage inductance of HF
transformer and resonant inductance. Gvo, Gvi, and Gi are output
voltage controller, input voltage controller, and output current
controller to achieve phase shift ratio D to control switches in
H1 and H2.
The output voltage loop and output current loop construct a
(b) traditional dual-close-loop for a more stable high-gain output
Fig. 3. Control strategies for DAB converter. (a) Triple-close- voltage, a smaller ripple voltage, and a more rapid dynamics.
loop active damping control strategy; (b) Dual-close-loop control Moreover, the input voltage loop is the third close-loop, which
strategy. aims to stabilize the input voltage by adding active damping
and reshaping input impedance in small-signal model of DAB
converter is considered to be one of the control objectives, converter. Besides, the traditional dual-close-loop and input
however, its characteristics had not been discussed. Thus, a voltage loop are decoupled [45], and then the traditional dual-
comprehensive input impedance modelling of DAB converter close-loop of DAB converter can be designed solely for output
including cascaded stage and controller are desirable to reshape characteristics in previous literatures. In this paper, the input
input impedance of DAB converter and design controller to voltage loop is designed, considering original impedance of
stabilize voltage and improve dynamics. DAB with traditional dual-close-loop established in section II.
To overcome above limitations, this paper presents a triple- B. Moreover, compared with traditional virtual impedance
close-loop active damping control strategy to reshape input design method, a reference value is set for input voltage to
impedance of DAB converter, maintaining cascaded system achieve a smaller oscillation, and a comprehensive model for
stability, suppressing input voltage low-frequency oscillation input voltage is discussed. The input impedance of DAB with
and improving dynamics performance. In the proposed active proposed triple-close-loop is detailed in section II. C.
damping strategy, an input voltage close-loop with regular
B. Input Impedance of DAB Converter with Traditional
voltage is proposed and the input voltage is regarded as a
Dual-close-loop
control objective to maintain the voltage level. The equivalent
positive virtual impedance of input voltage close-loop connects The phase-shift modulation is utilized in DAB converter to
with original input impedance of DAB converters in parallel, satisfy power delivery by adjusting phase shift ratio D. In this
and reshapes it. Besides, the small-signal input impedance is paper, the single-phase-shift (SPS) modulation is employed,
and the corresponding delivered power is described as [7]:
discussed, considering all dynamics of close loops. Moreover,
U U
the input voltage controller is discussed and designed by an P  in o D 1 D  (1)
active damping for LC filter in the perspective of input voltage 2nf s Lr
of DAB converter. Thus, the proposed strategy can be applied By applying small-signal disturbances to (1), the open-loop
in other types of cascaded systems. small-signal model from , , ͈ to and shown in Fig. 4

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TABLE I
SMALL SIGNAL TRANSFER FUNCTIONS OF DAB CONVERTER
Phase-shift-angle-to-input-cu Ṍ Ṍ偸
Gi1d
rrent transfer function ͈
Output-voltage-to-input-curr Ṍ Ṍ Ṍ偸
Gi1uo
ent transfer function ͈
Phase-shift-angle-to-output-c Ṍ Ṍ偸
Gi2d ͈
urrent transfer function ͈
Fig. 4. Open-loop small-signal model of DAB converter Gi2uin Output-voltage-to-output-cur Ṍ Ṍ Ṍ偸
rent transfer function ͈
Guouin Input-voltage-to-output-volta Ṍ Ṍ Ṍ偸
ge transfer function ͈
Phase-shift-angle Ṍ Ṍ偸
Gu0d -to-output-current transfer
͈

function ͈

According to (6) and (7), the characteristics of Yorg, ZLC, and

͈ when the power decreases or output voltage increases.
The corresponding plots are shown in Fig. 6 and 7. In Fig. 6(a),
Fig. 5. Equivalent models. (a) Based on dual-close-loop, (b)
when the power decreases, the magnitude and phase of input
Based on triple-close-loop.
impedance in middle-frequency and low-frequency band are
is established as (2) for original input impedance, and the decreased, and it may cause an unstable case. Correspondingly,
transfer functions are given in TABLE I [17]. in Fig. 6 (b), the magnitude shows a damping of Yorg. However,
i1  Gi1d  d  Gi1uo  uo the phase is between 0 and 180, comparing with that of LC
(2) filter between 0 and -180. Thus, the system may be unstable.
i2  Gi2 d  d  Gi2 uin  uin
On the other hand, in Fig. 7(a), when the voltage increases, the
where , ͈ , , , and are the small signal variables of D, magnitude and phase of input impedance are decreased. It
uin, i1, uo, and i2. would cause instability. Accordingly, in Fig. 7(b), when output
Considering RL and C2, the small-signal output voltage is voltage increases, the magnitude shows an increased damping
denoted as: of Yorg. However, the phase is also between 0 and 180. Thus,
uo  i2  Z o  Guo d  d  Guo uin  uin (3) the system would be unstable.
where ZO = RL/(1+sC2RL). C. Input impedance of DAB converter with proposed
According Fig. 3 (b), in dual-close-loop control strategy for triple-close-loop
DAB converter, the output voltage reference is set as a constant.
Different to dual-close-loop control strategy, the proposed
Thus, the small-signal phase-shift ratio is defined as:
triple-close-loop control strategy has additional input voltage

d  Gu uo  i2  Gi o
 (4) loop, ͈
Ṍ ͈ , and the small-signal phase shift ratio is
Substituting (4) into (2), the dual-close-loop small-signal rewritten as
model of DAB converter is obtained: 
d  Gu uin  Gu uo  i2  Gi (8) 
 
i o
 i1  Gi d  Gu uo  i2  Gi  Gi u  uo
 Thus, the triple-close-loop small-signal model of DAB
(5)
1 o 1 o

   
i2  Gi2 d  Guo uo  i2  Gi  Gi2uin  uin converter is achieved as:

Thus, by solving (3) and (5), the input admittance Yorg can be  1 i

 i1  Gi d  Gu uin  Gu uo  i2  Gi  Gi u  uo
o 1 o


derived as: 
 i2  Gi2 d  Gui uin  Gu o uo  i2  Gi  Gi2uin  uin(9)

Yorg 
i1

  
Z o Gi1uo  Gi1d Gi Guo  Gi Gi1d Gi2uin  (6)

uo  i2  Z o
uin 1  Gi Gi2 d 1  Z o Guo 
The corresponding small-signal admittance Yeq of DAB
With LC filter, the equivalent small-signal impedance model converter is derived as:
is shown as Fig. 5(a), and the relationship between small-signal
 Z G 
 Gi1d Gi Guo  Gi Gi1d G
input voltage ͈ and DC bus voltage is depicted as (7). The  
o i1uo
Yeq   Gui Gi  Gui Gi Gi1d (10)
1  Gi Gi2 d 1  Z o Guo 
i2 ui
impedance of LC filter is ZLC(s)= sLCD /(s2LDCCDC+1). However,
due to two poles in right-half plane at least by Routh-Hurwitz  Yorg  Yvir
stability criterion, Yorg shows a negative impedance Comparing with (6), Yeq can be divided into Yorg and Yvir. Yorg
characteristic, which has a potential hazard of unstable or is the original impedance of DAB converter based on dual-
oscillatory operation in uin. close-loop control. Y vir is the impedance of DAB converter,
uin 1 caused by input voltage loop and seem as a virtual impedance.
 (7)
u1 1  s 2 LDC C DC  sLDC Yorg Moreover, the equivalent small-signal impedance model of

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(a)
(a)

(b) (b)
Fig. 6. Characteristics when power decreases. (a) Yorg and ZLC, Fig. 7. Characteristics when output voltage creases. (a) Yorg and
(b) ͈ . ZLC, (b) ͈ .

DAB converter with triple-close-loop is shown in Fig. 5. (b), in

which Yvir parallels to Yorg.
Yvir  Tvir Gui Gi  Gui Gi Gi1d (11)

where Tvir 
 Z G
o i1uo 
 Gi1d Gi Guo  Gi Gi1d .
1  Gi Gi2 d 1  Z o Guo 
In equation (11), , , , , and are constants
for a given converter’s output design. Thus, the characteristic of
Yvir depends only on the input voltage controller , which is
for shaping the input impedance of DAB converter with triple-
close-loop control in a deterministic way. In following parts,
the three basic modes of , corresponding to fundamental
circuit elements, i.e., resistance, capacitor, and inductance, will
be discussed.
1) Virtual resistance: Yvir would be a resistance characteristic, Fig. 8. ͈ . when Guir, Guic, and Guil are selected.
when the input voltage controller is selected to be as (12).
In other words, a resistor Rvireq is virtually added in parallel In Fig. 8, when the virtual admittance is equivalent to a
to Yorg and LC filter. resistor paralleled with Yorg, the ͈ characteristic curve is
1 almost identical to the curve of ͈ without Yvir. What is
Gui r  K r  Yvir  1 / Rvireq (12)
Gi Gi1d  Tvir  more serious is that the resonance of ͈
increasing.
with Yvir would be

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Fig. 9. Gui design process. Fig. 10. Comparison of ͈ among Yorg with PI-based, PVI-
based, and proposed Yvir, and without Yvir.
2) Virtual capacitor: Yvir is a capacitor characteristic, when the
input voltage controller is selected to be as (13). In other  Req
words, a capacitor Cvireq is virtually added in parallel to Yorg 
Yeq   Req  sCeq    0.707 (17)
and LC filter.  R  1 / sL
1  eq eq
Gui c  sK C  Yvir  sCvireq (13)
Gi Gi1d  Tvir   In a second-order system, the damping ratio  is usually
selected as 0.707 to meet a rapid dynamic response, and a
In Fig. 8, when the virtual admittance is equivalent to a non-overshoot behavior.
capacitor paralleled with Yorg, the ͈ characteristic curve Furthermore, substituting (6) into (10), the virtual admittance
shows the various resonance frequency with a more serious Yvir can be determined by Yeq, rewritten as:
resonance peak, compared with that without Yvir. Yvir  Yeq  Yorg  Yeq  Tvir Gi2uin (18)
3) Virtual inductance: Yvir is an inductance characteristic,
when the input voltage controller is selected to be as (14). Considering equation (11), the input voltage controller
In other words, an inductor Lvireq is virtually added in can be expressed as:
parallel to Yorg and LC filter. Yvir  Tvir Gui Gi  Gui Gi Gi1d
K 1 1 Yeq  Tvir Gi2uin  Gui Gi Gi1d (19)
Gui l  L  Yvir  (14)  Gui 
s Gi Gi d  Tvir 1

sLvireq Tvir Gi
Therefore, a design process for input closed loop controller
III. DESIGN FOR INPUT VOLTAGE CONTROLLER Gui based on active damping with positive impedance is shown
For designing input voltage controller systematically, an as Fig. 9. Firstly, the ranges of input voltage, output voltage and
power are determined. Secondly, according to (15) and LC
integral model including LC filter and DAB converter is
filter, ͈ and required equivalent impedance/admittance
proposed as a point-cut to analyze the properties of input
parameters are determined. Thirdly, Yorg is achieved in (6) by
voltage under multiple close-loop control strategies.
the dual-close-loop controllers and DAB hardware parameters.
Combining the small-signal input impedance in Fig. 5(b) and Thus, Yvir and its design requirements are obtained by (11) and
equation (10), the relationship between small-signal input (17). Finally, Gui is obtained by (19).
voltage and DC bus voltage is expressed as: Compared with the traditional methods, in derivation of Yorg,
1 1 the proposed strategy considers the dynamics of controllers in
uin  u1  u1 (15)
1  s LC  sL Yorg  Yvir  closed loops to design Yvir. Thus, a wider bandwidth is achieved,
2
1  s LC  sLYeq 2

and the system dynamic performances are improved. Second,

To reduce the orders of (15) and maintain system stability, the proposed strategy analyzes the stability of the system and
Yeq should satisfy the following conditions: 1) Yeq needs to be the performance of uin from the perspective of ͈ . Hence, a
larger than zero, and shows a positive impedance characteristic cascaded system can be analyzed as an entirety, which avoids
for input impedance; 2) Yeq maintains filtering characteristic the leakages of focusing single system only at independent case.
and second-order performance of system; 3) Yeq can provide Then, an active damping strategy based on positive impedance
damping for global system containing LC filter. To simplify the is proposed to suppress the resonance of LC filter, stabilize the
design process, the requirements of Yeq in a mathematical form system, and improve the system dynamic performances and
are rewritten as: steady-state characteristics.
Yeq  Yorg  Yvir  0 (16) Besides, to validate the advantages of the proposed strategy,
some previous control strategies are compared, and the ͈
and
characteristics of previous control strategies are presented in

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(a)

(a)

(b)
Fig.11. Experiment setup and DAB prototype.
(b)
TABLE II Fig. 12. Experiment results of DAB in stable operation. (a) at
PARAMETERS OF DAB CONVERTER input port and output port, (b) at high-frequency-link.
Parameter Value
Input inductance LDC 700H Moreover, in low-frequency band, the magnitude of ͈
Input capacitor CDC 790F is closer to zero than that with other control strategies. It means
Transformer turns ratio 1:3 that the input voltage would be closed to the stable DC bus
Output capacitor C2 141F voltage, and have a higher voltage value level than that with
Leakage inductance Lr 30H other control strategies. Thus, the steady-state performance,
Frequency 22kHz dynamic response, and overshoot are optimized dynamically.
Rated power 200W
Output voltage 50V-100V
Input voltage 25V-30V IV. EXPERIMENT VERIFICATION
To verify the aforementioned analyses, an experiment setup
Fig. 10. When Yvir is not applied, the phase increases from 0 to is built, as shown in Fig. 11(a), including DC supply, an
180. This means that the system has a pair of poles in the right electronic load, current and voltage sensors, an oscilloscope
half plane (RHP), and the input voltage will oscillate or diverge. based on Tektronix MSO 2024 and PicoScope 4000 Serious,
When PI controller is applied in Gui, namely PI-based Yvir, the and DAB converter with control board. In Fig. 11(b), the
system low-frequency gain is lower, and a pole would be at experimental DAB converter prototype and control board based
RHP. Thus, the steady-state characteristic of uin is seriously on TMS320F28335 DSP are depicted. The details of DAB
affected, and uin would be oscillated or diverged. The ͈ converter are presented in TABLE II.
characteristic with parallel virtual impedance (PVI) [31] based The steady-state experiment results of cascaded DAB system
Yvir is also shown. The system can be stable, and achieves a with the proposed Yvir are shown in Fig. 12. It is shown that,
better steady-state characteristic than that with PI-based Yvir and under the proposed strategy, the cascaded DAB system is stable,
without Yvir. However, the Yorg does not consider controller's and no oscillation occurs at any port of DAB converter.
dynamics, the bandwidth of ͈ is smaller than that with the The dynamic experimental results of cascaded DAB system
proposed strategy. The dynamic response with PVI-based Yvir is without Yvir, with PI-based Yvir, with PVI-based Yvir, and with
worse than that with the proposed scheme. In fig. 10, the proposed Yvir are shown in Figs. 13 and 14, where the ac- and
proposed strategy offsets the above deficiencies, with a wider dc-coupled uin, dc-coupled uo and dc-coupled iL are observed.
bandwidth, a better resonance suppression, and a smoother From Figs. 13 and 14, the output voltages are 50V and 75V,
low-frequency characteristic. respectively, when load steps between 60% and 100% full load.

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(a) (b) (c)

(d) (e) (f)

(g) (h)
Fig. 13. Dynamic experiment results when output voltage is 50V. (a) and (b) Step change of load without Yvir; (c) and (d) Step change
of load with PI-based Yvir; (e) and (f) Step change of load with PVI-based Yvir; (g) and (h) Step change of load with proposed Yvir.

In Fig. 13, ih and uo keep steady, when load is 60% and 100% Figs. 13(c) and (d), due to the instability of ͈ . uin is at
full load at uo of 50V. In Figs. 13 (a) and (b), the experiment oscillation operation, and its peak-to-peak values at 60% and
results without Yvir are shown. However, uin is at an oscillation 100% full load are about 8V and 12V, respectively. In Figs. 13
state, and its oscillation amplitude (about 7V) at 60% full load (e) and (f), the steady-state characteristics of DAB cascaded
is less than that (about 10V) at full load. Even more, a more system with PVI-based Yvir are much better than those in Figs.
serious oscillation peak of uin with frequency of 50 Hz is 13(a) - Fig. 13(d), and the uin oscillation amplitude is decreased
appeared at the full load state. Meanwhile, the overshoot and by 90% to be in the range of (-0.4V, 0.4V). In addition, in Figs.
dynamic response time of uin at stepping from 60% to 100% full 13 (g) and (h), the oscillation amplitude of uin of DAB cascaded
load is smaller than those at stepping from 100% to 60% full system with proposed Yvir is also in the range of 0.8, which is
load. Thus, a profitable Yvir for the cascaded system is necessary. close to the experimental results in Figs. 13 (e) and (f), and 90%
The dynamic experiment results of cascaded DAB system with smaller than Fig. 13 (a) - Fig. 13(d).
PI-based Yvir, PVI-based Yvir, and proposed Yvir are depicted in Moreover, in Figs. 13(a)-(d), the dynamics of cascaded DAB
Fig. 13 (c) and (d), Fig. 13 (e) and (f), and Fig. 13 (g) and (h), system without Yvir and with PI-based Yvir are awful. Their
respectively. They have the same tendencies of steady-state and response time is more than 100ms, and their overshoot is about
dynamic characteristics as DAB cascaded system without Yvir. 300%. However, the response time is about 20ms, and the
It is coincident with the conclusion in Fig. 6. overshoot is about 250% in Figs. 13(e) and 13(f). Moreover,
However, the experiment results with various schemes have when proposed Yvir is applied, there is almost no dynamic
some differences in details. In steady-state operations, the DAB response process (less than 5ms) and non-overshoot in Figs.
cascaded system with PI-based Yvir shows serious behaviors in 13(g) and 13(h). The proposed control strategy has a better

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(a) (b) (c)

(d) (e) (f)

(g) (h)
Fig. 14. Dynamic experiment results when output voltage is 75V. (a) and (b) Step change of load without Yvir; (c) and (d) Step change
of load with PI-based Yvir; (e) and (f) Step change of load with PVI-based Yvir; (g) and (h) Step change of load with proposed Yvir.

dynamic performance than other appealed three schemes. It is 14(f), the oscillation amplitude of uin is about 0.8V at full load
consistent with the conclusion of Fig. 10. It is worth explaining and about 0.5V at 60% full load.
that, since the proposed control scheme is aimed to all closed Furthermore, the compares of dynamics among four schemes
loops dynamics, the dynamic performances of uin is achieved at are also made. In Figs. 14(a)-14(d), the dynamic response time
a higher standard. is also over 100ms, and overshoot is much over 300%, which is
In Fig. 14, the tendency of steady-state characteristics and larger than that in Figs. 13(a)-13(d). Especially, when the
dynamic performances of cascaded DAB system is in accord- system is without Yvir, a serious oscillation is shown in Fig.
ance with Fig. 13. The output voltage uO and high-frequency 14(a). Besides, in Figs. 14(e) and 14(f), the dynamic response
link current ih also operate stably. On the other hand, comparing time is about 30ms, and overshoot is about 300%. They are
Fig. 13 with Fig. 14, it can be seen that when uo is at 75V, the larger than those in Figs. 13 (e) and 13(f). This is consistent
corresponding dynamics and steady-state performances of uin with the conclusion of Fig. 7. However, in the cascaded system
are worse than those with uo at 50V. In steady operation, in Figs. with proposed Yvir in Figs. 14 (g) and 14(h), the oscillation
14 (a) and (b), the oscillation amplitude of uin is about 12V at amplitude, dynamic response time and overshoot at stepping
full load and about 8V at 60% full load, when the cascaded between 60% and 100% full load are proximity to those in Figs.
system is without Yvir. In the cascaded system with PI-based Yvir 13 (g) and (h). Thus, there is almost no dynamic response
in Figs. 14 (c) and 14(d), the oscillation amplitude of uin is process (less than 5ms), non-overshoot, and a small input
about 11V at full load and about 9V at 60% full load. However, voltage ripple in Figs. 14(g) and 14(h). The proposed control
in the cascaded system with PVI-based Yvir in Figs. 14 (e) and strategy has a better dynamic performance than other three

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control schemes. It is consistent with the conclusion of Fig. 10. U in D 1  D 

Therefore, the proposed control strategy and design process are I2  (a. 1)
2nf s Lr
proper to steady-state and dynamic performances at various
output voltages and powers. U o D 1  D 
I1  (a. 2)
Furthermore, in both Figs. 13 and 14, it is shown that the 2nf s Lr
input voltage (26.3V) with the proposed Yvir is closer to DC bus By applying small-signal disturbances , , ͈ , and to
voltage at 26.5V than 25V with PVI-based Yvir. Moreover, the (a. 1) and (a. 2), we can achieve the following equations:
voltage ripple with the proposed Yvir is 1V, which is lower than

U in  uin  D  d 1  D  d  
1.5V with PVI-based Yvir. However, the input voltage with  I 2  i2   2nf s Lr
(a. 3)
PI-based Yvir and without Yvir have a serious ripple about 10V,
which has meant that the system is unstable. The result are
U o  uo   D  d 1  D - d 
consistent with conclusion of Fig. 10. I 1  i1  
2nf s Lr
(a. 4)
In summary, the experimental results in Figs. 13 and 14 show
that the scheme with proposed Yvir is a more valid solution to Neglecting high-order disturbances, the linearizing small-
the instability of cascaded system, compared with that without signal models from , , and ͈ to and are achieved as
Yvir and with PI-based Yvir. Moreover, the proposed strategy can following:
ensure system stability, and improve dynamic performance at u 1  2 D   D 1  D 
various output voltages and powers, due to the large bandwidth, i2  in d   uin (a. 5)
2nf s Lr 2nf s Lr
compared with the control strategy with PVI- based Yvir.
uo 1  2 D   D 1  D 
i1  d   uo (a. 6)
V. CONCLUSION 2nf s Lr 2nf s Lr
Thus, the transfer functions are expressed.
In this paper, a triple-close-loop active damping control
i u 1  2 D 
strategy is proposed for the instability or oscillation problems Gi1d  1  o (a. 7)
of cascaded system with DAB converter and input LC filter. d 2nf L uo  0 s r
Moreover, a perspective of input voltage is proposed for system
i1 D 1  D 
stability analysis, controller design and impedance reshaping. Gi1uo   (a. 8)
Based on the traditional dual-close-loop control strategy, a uo d  0
2nf s Lr
full-order input impedance of DAB converter is developed, i2 uin 1  2 D 
considering dynamics of close loops. The input impedance is Gi2 d   (a. 9)
subject to output voltage and transaction power. However, from d uin  0
2nf s Lr
the input voltage point of view, the cascaded DAB converter i2 D 1  D 
with input LC filter is not stable, based on Routh-Hurwitz Gi2uin   (a. 10)
stability criterion. Thus, the proposed control strategy reshapes uin d  0
2nf s Lr
the input impedance, and the input voltage is regarded as a
control objective to reduce its bias. Besides, the input voltage
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This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/TIE.2020.2969126, IEEE
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Yuanpeng Guan was born in Hainan, China, in 1992. Yi Liang received the B.S. degree in Electrical
He received the B.S. degree in Electrical Engineering Engineering from the Southwest Jiaotong University,
from the Huazhong University of Science and Chengdu, China, in 2016 and Master's degree in Power
Technology, Wuhan, China, in 2014, and the M.S. Electronics in the School of Electric Power, South
degree in Power Electronic from South China China University of Technology, Guangzhou, China
University of Technology, Guangzhou, China, in in 2019. He has been working in R&D Center of
2017. Since 2017, he has been working towards the Guangzhou Automobile Group Co., Ltd since 2019.
Ph.D. degree in Power Electronic in the School of His current research interests include power
Electric Power, South China University of electronic converter for electric vehicle.
Technology, Guangzhou, China.
His current research interests include grid-connected inverter, power
electronic transformer, and stability analysis of Microgrid.

Yunxiang Xie was born in Hunan, China, in 1965. He Xuemei Wang (M’12) received the M.Sc. degree in
received the B.S., M.S., and Ph.D. degrees in Control Engineering from Central South University,
Electrical Engineering from Xi’an Jiaotong University, China in 2004, and the Ph.D. degree in Power
Xi’an, China, in 1985, 1988, and 1991, respectively. Electronics and Power Drives from South China
Since 1991, he has been with the School of Electric University of Technology, China in 2009. Since 2009,
Power, South China University of Technology, she has been with the School of Electric Power, South
Guangzhou, China, where he is presently working as a China University of Technology, Guangzhou, China,
Professor. where she is presently working as a Professor.
His current research interests include energy and Her current research interests center on intelligent
power quality. modeling and control, reliability and state monitoring
of power modules, and nonlinear behavior of power converters.

Yu Wang (M’19) was born in Guangdong, China, in

1984. He received the B.S. degree in Electronic
Engineering from Nanchang Hangkong University,
Nanchang, China, in 2007, the M.S. degree in Control
Engineering from Guangxi University, Nanning,
China, in 2010, and the Ph.D. degree in Power
Electronics from the South China University of
Technology, Guangzhou, China, in 2015.
From 2015 to 2017, he worked as a Postdoctoral
Researcher in Department of Electrical Engineering,
Tsinghua University, Beijing, China. He is currently an Associate Professor
in School of Automation, Guangdong University of Technology, Guangzhou,
China. Since December 2019, he becomes an ERCIM "Alain Bensoussan"
Postdoctoral Fellow in Department of Electric power engineering, Norwegian
University of Science and Technology, Trondheim, Norway.
Dr. Wang is the Member of IEEE and IEEE Industrial Electronics Society,
and also the Senior Member of China Power Supply Society. His current
research interests include the topology, modulation, stability and control of
high-frequency power electronic transformer and flexible DC transmission
and distribution system..

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