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A LLC Type Resonant Converter Based on PWM Voltage Quadrupler Rectifier with Wide Output Voltage Ming Shang, Student Member, IEEE, Haoyu Wang, Member, IEEE School of Information Science and Technology ShanghaiTech University Shanghai, China [email protected] Abstract—In a typical plug-in electric vehicle onboard charger, the input voltage of the second stage dc/dc converter is usually kept constant while the battery pack voltage varies in a wide range with the change of battery state of charge. In this application, it is extremely difficult to tune the operation of traditional LLC resonant converter close to its resonant frequency. In this paper, a novel pulse width modulated (PWM) LLC type resonant converter based on voltage quadrupler rectifier is proposed. The proposed converter always operates at the resonant frequency and is able to achieve a wide output voltage range. Zero-voltage-switching (ZVS) and zero-current-switching (ZCS) are realized among all power MOSFETs and all power diodes, respectively. A 1.3 kW converter prototype, generating 250 V-420 V output voltage from the 390 V dc link, is analyzed and designed to verify the effectiveness and the advantages of the converter. Keywords—LLC; plug-in electric vehicle; PWM; voltage quadrupler; wide output voltage; ZVS I. INTRODUCTION A typical plug-in electric vehicle (PEV) onboard battery charger consists of two stages: a) the front end ac/dc converter for rectification and power factor correction, and b) the second stage dc/dc converter for voltage/current regulation and galvanic isolation[1]–[4]. High power density, and high efficiency are desired features for onboard chargers. Thus, the conversion efficiency of both stages should be improved together. Since the frond-end non-isolated PFC typically utilizes standard topology and is highly efficient, the main challenge is to improve the efficiency of the second stage dc/dc converter [5]. As shown in Fig. 1, this second stage dc/dc converter is usually composed of a high frequency inverter, an optional resonant network for resonant converter, a high frequency transformer, the rectifier network, as well as the output port filter network. The LLC resonant converter is considered as a good candidate to be employed in the second stage dc/dc converter of the PEV onboard chargers[6]–[8]. This is mainly because in LLC resonant converters, all the active switches can achieve ZVS and all the diodes turn off with ZCS over the entire load range [9]–[11]. While in the application of PEV onboard charging, the output voltage should be in a wide voltage variation range (typically 250V - 420V for battery vehicles). To make the LLC topology adaptable to this wide voltage range, different methods have been proposed in [12]–[14]. Since LLC converter is a pulse frequency modulated topology, this means switching frequency (fs) must swing in a wide range to fit this wide voltage gain range. This phenomenon can be observed clearly from the curves of LLC resonant converter output voltage versus normalized switching frequency in Fig. 2. This wide fs range makes fs deviate from the resonant frequency (fr); the conversion efficiency degrades fast. To alleviate this problem, different modified LLC type topologies are investigated [15]–[17]. In [15], the converter actively reconfigures its secondary side rectifier from voltage- doubler structure to voltage-quadrupler structure according to different load conditions. However, it still employs frequency modulation without eliminating the above mentioned issue. For [16], phase shift control is adopted on the secondary side. This compensates the switching frequency deviation in hold-up mode. In [17], a pulse width controlled topology in secondary side is proposed to regulate the output voltage; fs is constant and equal to fr. However, the voltage stresses of the secondary side components are high and equal to the output voltage. Thus, it is not a preferred candidate for high voltage applications. In this paper, a novel LLC type resonant topology is proposed. This proposed converter achieves an ultra-wide This work was supported in part by the National Natural Science Foundation of China under Grant 51607113, and in part by the Shanghai Sailing Program under Grant 16YF1407600. Fig. 1: the structure of a second stage dc/dc converter. Normalized Gain Fig. 2. DC voltage characteristics of conventional LLC converter adapted to wide output voltage range. 978-1-5090-5366-7/17/$31.00 ©2017 IEEE 1720

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A LLC Type Resonant Converter Based on PWM Voltage Quadrupler Rectifier with Wide Output Voltage

Ming Shang, Student Member, IEEE, Haoyu Wang, Member, IEEE School of Information Science and Technology

ShanghaiTech University Shanghai, China

[email protected]

Abstract—In a typical plug-in electric vehicle onboard charger, the input voltage of the second stage dc/dc converter is usually kept constant while the battery pack voltage varies in a wide range with the change of battery state of charge. In this application, it is extremely difficult to tune the operation of traditional LLC resonant converter close to its resonant frequency. In this paper, a novel pulse width modulated (PWM) LLC type resonant converter based on voltage quadrupler rectifier is proposed. The proposed converter always operates at the resonant frequency and is able to achieve a wide output voltage range. Zero-voltage-switching (ZVS) and zero-current-switching (ZCS) are realized among all power MOSFETs and all power diodes, respectively. A 1.3 kW converter prototype, generating 250 V-420 V output voltage from the 390 V dc link, is analyzed and designed to verify the effectiveness and the advantages of the converter.

Keywords—LLC; plug-in electric vehicle; PWM; voltage quadrupler; wide output voltage; ZVS

I. INTRODUCTION

A typical plug-in electric vehicle (PEV) onboard battery charger consists of two stages: a) the front end ac/dc converter for rectification and power factor correction, and b) the second stage dc/dc converter for voltage/current regulation and galvanic isolation[1]–[4]. High power density, and high efficiency are desired features for onboard chargers. Thus, the conversion efficiency of both stages should be improved together. Since the frond-end non-isolated PFC typically utilizes standard topology and is highly efficient, the main challenge is to improve the efficiency of the second stage dc/dc converter [5].

As shown in Fig. 1, this second stage dc/dc converter is usually composed of a high frequency inverter, an optional resonant network for resonant converter, a high frequency transformer, the rectifier network, as well as the output port filter network.

The LLC resonant converter is considered as a good candidate to be employed in the second stage dc/dc converter of the PEV onboard chargers[6]–[8]. This is mainly because in LLC resonant converters, all the active switches can achieve ZVS and all the diodes turn off with ZCS over the entire load range [9]–[11]. While in the application of PEV onboard charging, the output voltage should be in a wide voltage variation range (typically 250V - 420V for battery vehicles). To make the LLC topology adaptable to this wide voltage range, different methods have been proposed in [12]–[14].

Since LLC converter is a pulse frequency modulated topology, this means switching frequency (fs) must swing in a wide range to fit this wide voltage gain range. This phenomenon can be observed clearly from the curves of LLC resonant converter output voltage versus normalized switching frequency in Fig. 2. This wide fs range makes fs deviate from the resonant frequency (fr); the conversion efficiency degrades fast.

To alleviate this problem, different modified LLC type topologies are investigated [15]–[17]. In [15], the converter actively reconfigures its secondary side rectifier from voltage-doubler structure to voltage-quadrupler structure according to different load conditions. However, it still employs frequency modulation without eliminating the above mentioned issue. For [16], phase shift control is adopted on the secondary side. This compensates the switching frequency deviation in hold-up mode. In [17], a pulse width controlled topology in secondary side is proposed to regulate the output voltage; fs is constant and equal to fr. However, the voltage stresses of the secondary side components are high and equal to the output voltage. Thus, it is not a preferred candidate for high voltage applications.

In this paper, a novel LLC type resonant topology is proposed. This proposed converter achieves an ultra-wide

This work was supported in part by the National Natural Science Foundation of China under Grant 51607113, and in part by the Shanghai Sailing Program under Grant 16YF1407600.

Fig. 1: the structure of a second stage dc/dc converter.

Nor

mal

ized

Gai

n

Fig. 2. DC voltage characteristics of conventional LLC converter adapted to wide output voltage range.

978-1-5090-5366-7/17/$31.00 ©2017 IEEE 1720

output voltage range with fs fixed and tuned to fr. The charging voltage and current are regulated by modulating the duty cycle of the secondary side MOSFET. This proposed converter demonstrates benefits including: a) optimum operation of the main LLC power circuit; b) ZVS turning on of all active switches; c) ZCS turning off of diodes on the secondary side; d) reduced circuit control complexity; f) reduced components voltage stresses on the second side; and e) reduced circulating current and conduction losses.

II. PROPOSED CONVERTER

A. Topology Description

The schematic of the proposed converter is plotted in Fig. 3. The primary side structure of this topology is the same as the full bridge LLC resonant converter: all switches have a constant duty cycle close to 0.5. To prevent the circuit shoot through, the upper and lower power MOSFETs are turned on and off complementarily with certain deadband (tdead). The secondary side structure is derived from conventional voltage quadrupler rectifier, which is composed of six diodes, four capacitors and one two-quadrant switch. As shown, an active switch (S5) is added on the secondary side. And the output voltage can be regulated by actively controlling the duty cycle of S5. Therefore, the main LLC topology can always operate at its resonant frequency.

B. Operation Principle

In the proposed converter, the primary side full bridge generates a constant frequency (equals to fr) square waveform. While on the secondary side, S5’s switching frequency is also equals to fr.

If the duty cycle of S5, d is below 0.25 or higher than 0.75, the output will be a constant voltage. This means that the converter loses its PWM feature. Therefore, to maintain an effective pulse width modulation, d should be constrained within the range of [0.25, 0.75]. However, it is also worth to mention that: a) when d is within [0, 0.25), the converter secondary side is equivalent to a voltage-doubler rectifier (VDR); b) when d is within (0.75, 1], the converter secondary side is equivalent to a voltage-quadrupler rectifier (VQR).

1) VDR Mode: The key waveforms in VDR mode (d=0) is shown in Fig. 4(a). In this mode, the operation principle is similar to the conventional LLC resonant converter. The equivalent circuit is plotted in Fig. 5(a). If d is 0, S5 functions as a diode, and D3,4 are off. According to the conventional LLC resonant converter operation, all the switches and diodes can achieve ZVS and ZCS, respectively. Meanwhile, voltage

balance for C3 and C4 can be easily achieved. Therefore, the voltages across C3 or C4 are equal to half of the output voltage. In this mode, the output voltage is defined as,

2 DCo

VV

n=

(1)

where n is the transformer turn ratio.

2) VQR Mode: The key waveforms of the converter in the VQR mode (d=1) are shown in Fig. 4(b). In this mode, the operation principle is also similar to the conventional LLC resonant converter. The equivalent circuit is shown in Fig. 5(b). If d is 1, S5 is on and D1,2 are off. The circuit operation is similar to that in the VDR mode. All the MOSFETs and diodes can achieve ZVS and ZCS, respectively. Meanwhile, the voltages across C3 and C4 are equal to half of output voltage. The sum of the voltages across C1 and C2 also equals to half of output voltage. The output voltage is defined as,

4 DCo

VV

n=

(2)

3) Normal Mode: It should be noted that there is a secondary resonant frequency (fm) in the LLC resonant tank. This corresponds to the resonance where the magnatizing inductor (Lm) participates.

Lr

Cr

Lm

D1 C3

S4

S2n:1

S3

S1

vabVDC

iLr

iLm

vCrC4

vcd

D2

S5 R Vo

C1

C2

D5

D6

D3

D4

is

Fig. 3. Schematic of the proposed converter.

(a) (b)

Fig. 4. Steady state operation waveforms of the converter; when a) d=0; b) d=1.

Fig. 5. The equivalent circuits of the converter; when a) d=0; b) d=1.

1721

( )1

2m

r m r

fL L Cπ

=+

(3)

The switching frequency is designed above fm to ensure that the resonant tank works in the inductive region. This would facilitate the ZVS condition for all switches.

The key steady state waveforms of the converter in the normal mode (d = 0.5) are plotted in Fig. 6. As shown, the time delay, τ = 0.25Ts, is enforced between the turning on of S2 and S5. In each switching cycle, there are 12 different operating modes. One specific switching period, [t0, t12), is extracted for detail analysis. Those operating modes correspond to 12 equivalent circuits as plotted in Fig. 7.

The operating modes analysis is based on the assumption that C1-4 are sufficiently large such that their voltage ripples can be ignored. Thus, those capacitor voltages are considered as dc voltages, V1-4, respectively.

Mode I: [t0, t1). At t0-, the body diodes of S2 and S3 are conducting. This creates a zero voltage condition for the turning on of the MOSFETs. At t0, the MOSFETs (S2 & S3) channels are turned on with ZVS, and S5 is off. The voltage across Lm is n(V3-V1). As shown in Fig. 6, the secondary side current, is is negative, the body diode of S5 and D4 start to conduct. Mode I ends when the current through the inductor (iLr) reaches zero.

Mode II: [t1, t2). Mode II begins at t1 when D5 begins to conduct. The current through Lm (iLm) continues to decrease linearly.

Mode III: [t2, t3). Mode III begins at t1 when iLr changes to be negative. Lr continues to resonate with the resonant capacitor (Cr). is keeps flowing through the body diode of S5. Mode III ends when the S5 is turned on.

Mode IV [t3, t4). At t3, S5 is turned on with ZVS. In the previous mode, is goes through the body diode of S5. Before the S5’s channel conducts, the voltage across S5 has been discharged to be zero. Hence, ZVS can be achieved on S5. In mode IV, is goes through the channel of S5 instead of its body diode.

Mode V: [t4, t5). At t4, the current through the rectifier D5 (iD5) reaches zero. In this mode, the zero current turn-off of rectifier D5 is achieved. D5 is off during this mode.

Mode VI: [t5, t6). Mode VI begins at t5 when iD4 and is reach zero. Meanwhile, iLm intersects with iLr. In the mode VI, the zero current turn-off of rectifier D4 is achieved.

Mode VII [t6, t7). Mode VII begins at t6 when S2,3 are turned off simultaneously. In the beginning of Mode VII, iLr discharges and charges the output capacitors of S1-4, and then flow through the body diodes of S1 and S4. Thus, vab is inverted from -VDC to VDC while is is kept zero.

Mode VIII [t7, t8). At t7, S1,4 are both turned on with zero voltage. The voltage across Lm is nV1. During Mode VIII, on the secondary side, D3 and D6 continue to conduct, and is changes to positive. Mode VIII ends when iLr reaches zero.

Mode IX [t8, t9). At t8, iLr begins to change its polarity to positive. iLm continue to increase linearly since the voltage across the Lm is positive. Mode IX ends when S5 is turned off.

Mode X [t9, t10). Mode X starts as S5 is turned off at t9. Since iLr is continuous, the current path is switched from S5 to D2. Hence, The voltage across Lm is n(V1+V2). iLm continue to increase linearly in this operation mode. Mode X ends when is reaches zero.

Mode XI [t10, t11). At t10, is reaches zero. Meanwhile, D2,3,6 turn off with zero current. Mode XI ends when S1 and S4 are turned off.

Mode XII [t11, t12). Mode XII begins in the deadband at t11. Similarly, iLr discharges and charges the output capacitors of S1-

4, and then flow through the body diodes of S2 and S3. Mode XII ends when the switch pattern of S1-S4 is inverted again, which denotes the start of the next switching period.

Fig. 6. Steady state operation waveforms of converter in normal mode.

1722

III. CHARACTERISTICS AND DESIGN CONSIDERATIONS

A. Equivalent Circuit Model

Based on the steady state analysis in Section II-B, the equivalent circuit model of the proposed topology can be obtained. The following analysis is based on the assumption that the relatively narrow time intervals, t5-t7 and t11-t12, can be neglected. Moreover, the voltage source and the impedance on the secondary side of the transformer can be pushed to the primary side with certain ratio. The resultant equivalent circuit model of the converter and the corresponding current waveforms are plotted in Fig. 8 and Fig.9, respectively.

B. Voltage Conversion Relationship

As shown in Fig. 8, in State I, the input voltage source reverts its polarity. Lr resonates with Cr. This is similar to VQR mode as analyzed in Section II-B. The peak value of iLm is,

_ 4

DCLm peak

m r

Vi

L f=

(4)

In State II, the output voltage source is changed from nVC2 to nVC1. iLr(t) begins to increase from –iLm_peak. iD6(t) increases from zero. According to the bottom figure in Fig. 9, the average of iD6(t) equals to the output current, io. Therefore, the peak value of the current through D6 is,

6 _

4

3 ( 0.25)o

D peak

Vi

R d=

(5)

Thus, the peak value of iLr is,

_

8

3 ( 0.25)o

Lr peak

Vi

Rn d=

(6)

Assuming the voltage on Cr is sine wave, its peak value is

_

8 2 r r oCr peak

L f VV

nR

π=

(7)

In State III, the output voltage source is changed to nVC4, iLr(t) begins to decrease from iLr_peak. In State IV, no power is delivered to the secondary side.

Based the law of energy conservation and assuming the converter is ideal without intermediate energy losses, the input energy is equal to the energy delivered to the battery pack. Thus, the output voltage can be derived as,

R Vo

Lr

Cr

Lm

D1 C3

S4

S2n:1

S3

S1

vabVDC

iLr

iLm

vCrC4

vcd

D2

S5

C1

C2

D5

D6

D3

D4

(a)

Lr

Cr

Lm

D1 C3

S4

S2n:1

S3

S1

vabVDC

iLr

iLm

vCrC4

vcd

D2

S5 R Vo

C1

C2

D6

D3

D4

(b)

D5 D5

Lr

Cr

Lm

D1 C3

S4

S2n:1

S3

S1

vabVDC

iLr

iLm

vCrC4

vcd

D2

S5 R Vo

C1

C2

D6

D3

D4

(c)

Lr

Cr

Lm

D1 C3

S4

S2n:1

S3

S1

vabVDC

iLr

iLm

vCrC4

vcd

D2

S5 R Vo

C1

C2

D6

D3

D4

(d)

D5

Lr

Cr

Lm

D1 C3

S4

S2n:1

S3

S1

vabVDC

iLr

iLm

vCrC4

vcd

D2

S5 R Vo

C1

C2

D6

D3

D4

(e)

D5

Lr

Cr

Lm

D1 C3

S4

S2n:1

S3

S1

vabVDC

iLr

iLm

vCrC4

vcd

D2

S5 R Vo

C1

C2

D6

D3

D4

(f)

D5

Lr

Cr

Lm

D1 C3

S4

S2n:1

S3

S1

vabVDC

iLr

iLm

vCrC4

vcd

D2

S5 R Vo

C1

C2

D6

D3

D4

(g)

D5

Lr

Cr

Lm

D1 C3

S4

S2n:1

S3

S1

vabVDC

iLr

iLm

vCrC4

vcd

D2

S5 R Vo

C1

C2

D6

D3

D4

(h)

D5

Lr

Cr

Lm

D1 C3

S4

S2n:1

S3

S1

vabVDC

iLr

iLm

vCrC4

vcd

D2

S5 R Vo

C1

C2

D6

D3

D4

(i)

D5

Lr

Cr

Lm

D1 C3

S4

S2n:1

S3

S1

vabVDC

iLr

iLm

vCrC4

vcd

D2

S5 R Vo

C1

C2

D6

D3

D4

(j)

D5

Lr

Cr

Lm

D1 C3

S4

S2n:1

S3

S1

vabVDC

iLr

iLm

vCrC4

vcd

D2

S5 R Vo

C1

C2

D6

D3

D4

(k)

D5

Lr

Cr

Lm

D1 C3

S4

S2n:1

S3

S1

vabVDC

iLr

iLm

vCrC4

vcd

D2

S5 R Vo

C1

C2

D6

D3

D4

(l)

D5

Fig. 7. Operation modes of the converter.

Fig. 8. Equivalent circuit model of the converter; a) State I: t0 ≤ t < t5; b) State II, t7 ≤ t < t9; c) State III, t9 ≤ t < t10; d) State IV, t10 ≤ t < t11.

1723

[ ]

2 2 2

12 4 4 (8)

4 3 32 96 (1 4 )DC m r r DC

m r r r r

V RnD L f D f VVo

nL f Rn D f L f D Dπ+

= + + + −

Fig. 9 plots the output voltage versus the effective load resistance, and the duty cycle. As shown in Fig. 9, the output voltage is a strong function of the duty cycle and a weak function of the effective load resistance. This means that the voltage gain can be easily regulated by the pulse width modulation.

C. Design Consideration

fr, Q and Ln are the resonant frequency, quality factor, and inductor ratio.

1

2r

r r

fL Cπ

=

(9)

2

r

r

LC

Qn R

=

(10)

m

nr

LL

L=

(11)

where, R is the output load resistance. fr, Q and Ln can be designed based on the first-harmonic approximation method. The detail design consideration has been discussed comprehensively in [18], [19].

The LLC module always operates at fr and has no voltage regulation capability. Thus, since the increase of Lm reduces the circuiting current, Lm should be designed to be as large as possible. While the upper limit of Lm can be found based on the ZVS requirement.

According to the aforementioned operational principles analysis, once the output capacitance of MOSFET (Coss) is discharged to zero and the body diode of the MOSFET is in the ON-state during tdead, ZVS of switch is achieved. Fig. 11 illustrates the output capacitance charging/discharging processes for primary-side MOSFETs. In Fig. 11, iLm_peak is the peak value of iLm, and can be calculated by Eq.4.

In order to improve the accuracy of analysis, the transformer primary side parasitic capacitance Ctr should be considered. Thus,

18 C

2

deadm

oss tr r

tL

C f≤

+

(12)

A tradeoff should be made between the Lm and tdead.

IV. RESULTS

To verify the effectiveness of the proposed converter, a 390 V input, 250 V - 420 V output, 1.3 kW, 100 kHz converter prototype is designed and tested. The specifications and design parameters are summarized in Table I.

Fig. 9. Gate signals and simplified current waveforms.

Fig. 10. Voltage gain versus equivalent R and D.

Fig. 11. Equivalent circuit during the tdead; when a) iLm < 0; b) iLm > 0.

Fig. 12. Measured voltage gain versus simulation and theoretical results.

1724

The theoretical predicted output voltage curve versus d is plotted in Fig. 12, where the simulated and experiment data is also marked. As shown in Fig. 12, with the duty cycle increases, the output voltage increase. The theoretical predicted results generally agree with the simulation and experiment results. It should be noted that the error is mainly due to the approximation and simplification adopted in the circuit modeling.

Fig. 13 shows the converter operation in VDR mode at fr. As can be observed, the ZVS of the switch S4 is achieved. iLr lags vab under 390 V input.

Fig. 14 shows the converter operation in VQR mode at fr. At this operating point, waveforms of iLr and vCr are captured. The waveforms proof that the LLC resonant tank is inductive.

Figures 15 and 16 demonstrates the circuit operations at normal mode with output equals to 420 V. As shown in Fig. 15, the body diode of the S5 conducts before the conduction of MOSFET channel. This guarantees the ZVS turning on of S5. As shown in Fig. 16, vds1 and vds3 drop to zero before the conduction of MOSFET channels. iLr contributes to charge and to discharge the parasitic capacitors of MOSFETs. Therefore, ZVS is achieved both on the primary side MOSFETs. The measured conversion efficiency reaches 92.62%.

V. CONCLUTIONS

In this paper, a novel PWM LLC type resonant converter is proposed for use in PEV onboard chargers. The circuit operation principles are analyzed. The advantages of the proposed converter are detailed. The converter can always operate at its resonant frequency by adopting pulse width modulation on the secondary side. Meanwhile, it is worth to mention that hybridizing pulse width and frequency modulations is also feasible. This hybridization increases the output voltage range with reduced normalized voltage gain range of the LLC topology. A 1.3 kW converter prototype is designed to verify the

TABLE I CIRCUIT SPECIFICATIONS AND DESIGN PARAMETERS

Symbol Quantity Parameter

Vi Input voltage 390 V Vo Output voltage 250 V – 420 VLr Resonant inductor 45 μH Cr Resonant capacitor 58 nF Lm Magnetizing inductor 360μH

C1,2,3,4 Output capacitor 100μF n Transformer turns ratio 3.5 fs Switching frequency 100kHz D Diode LQA30T300

S1,2,3,4ρ Primary side MOSFET IRFP460 S5 Secondary side MOSFET IRFP4137

Fig. 13. Steady state waveforms in VDR mode with d = 0.

iLr

vcr

vGS1

vDS1 ZVS

Fig. 14. Steady state waveforms in VQR mode with d = 1.

Fig. 15. Steady state waveforms of S5 with d = 0.58.

Fig. 16. Steady state waveforms of S1,3 with d = 0.58.

1725

proof of concept. The proposed converter topology is not only useful for PEV battery charging application, but also worthy approaching in applications where wide voltage gain range is desired.

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[8] H. Wang and S. Dusmez, “Maximum Efficiency Point Tracking Technique for LLC -Based PEV Chargers Through Variable DC Link Control,” IEEE Trans. Ind. Electron., vol. 61, no. 11, pp. 6041–6049, 2014.

[9] Z. Hu, Y. Liu, and P. C. Sen, “Bang – Bang Charge Control for LLC Resonant Converters,” IEEE Trans. Power Electron., vol. 30, no. 2, pp. 1093–1108, 2015.

[10] G. Yang, P. Dubus, and D. Sadarnac, “Double-Phase High-Efficiency , Wide Load Range Converter for Electric / Hybrid Vehicles,” IEEE Trans. Power Electron., vol. 30, no. 4, pp. 1876–1886, 2015.

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