DTC Report

SIMULATION AND ANALYSIS OF DIRECT TORQUE CONTROLLED INDUCTION MOTOR
Chapter 1
INTRODUCTION
OF
DIRECT
TORQUE
CONTROL INDUCTION MOTOR DRIVE

1.1
Introduction
The control and estimation of induction motor drives constitute a vast subject,
and the technology has further advanced in recent years. Induction motor drives with
cage-type machines have been the workhorses in industry for variable speed
applications in a wide power range that covers fractional horsepower to multimegawatts. These application include pumps and fans, paper and textile mills, subway
and locomotive propulsions, electric and hybrid vehicles, machine tools and robotics,
home appliances, heat pumps and air conditioners, rolling mills, wind generation
systems, etc. In addition to process control, the energy saving aspect of variablefrequency drives is getting a lot of attention nowadays.
The control and estimation of ac drives in general are considerably more
complex than those of dc drives, and this complexity are the need of variablefrequency, harmonically optimum power supplies, the complex dynamics of ac
machines, machine parameter variations, and the difficulties of processing feedback
signals in the presence of harmonics.
There are two ways to control ac drives (1) Scalar control (2) Vector control
Scalar control techniques of voltage fed and current fed inverter drives are somewhat
simple to implement but the inherent coupling effect gives sluggish response and the
system is easily prone to instability because of higher order system effect. For
example, If the torque is increased by incrementing the slip, flux tends to decrease.
This flux variation is always sluggish. So, this flux decrease is then compensated by
the sluggish flux control loop feeding in additional voltage. This dipping of flux
reduces the torque sensitivity with slip and lengthens the response time. This
explanation is also valid for current-fed inverter drives.
The above mentioned problem can be solved by Vector control. The invention
of vector control in the beginning of 1990s, and the demonstration that an induction
motor can be controlled like separately excited dc motor. Because of dc machine like
INSTITUTE OF TECHNOLOGY, NIRMA UNIVERSITY
PAGE 1
performance, vector control is known as decoupling, orthogonal or transvector

control.
In mid-1980s, an advanced scalar control technique, known as direct torque
control, was introduced for voltage fed inverter drives. This technique was claimed to
have nearly comparable performance with vector controlled drives without
introducing more complexity as vector control. More details about direct torque is
given briefly in this chapter.
1.2
Classifications of Different Control Methods

Variable
Frequenc
y Control
vector
based
controller
Scalar
based
controllers
field
oriented
stator
current
v/f=const
Direct
Torque
control
stator
flux
oriented
Rotor flux
oriented
Direct
feedback
linerizatio
n
Open
loop
Indirect
closed loop
flux &
torque
control
Direct
torque
space
vector
modulatio
n
circle flux
trajectory
Passivity
based
control
Hexagon
flux
Figure 1.1 General Classification of Induction Motor Control Methods

Table 1.1 Drive and Control Variables
Drive
Control Variables
DC Drives
Armature current, Ia
Magnetizing current,Im
Output Voltage
Output Frequency, F
Motor Torque & Motor
Magnetizing Flux
AC Drives(PWM)
Direct Torque Control
PAGE 2
In above Table 1.1, various drives and its control variables are shown. Here given
variables are controlled in respective drive systems. And in Table no 1.2, comparison
of various drives is given.
Table 1.2 Comparison of Various Drives
Control
Type
Torque
Control
Flux
Control
Respons
e
Advantages
Disadvantages
DC Drive
Direct
Direct
High
High Accuracy
Good torque response
Simple
Scalar
Frequenc
y Control
Flux
vector
control
Direct
Torque
control
None
None
Low
No encoder
Simple
Motor maintenance
Motor cost
Encoder required for
high accuracy
Low accuracy
Poor torque response
Indirect
Direct
High
High accuracy
Good torque response
Encoder always required
Direct
Direct
High
No encoder
Moderate accuracy
Excellent torque
response
Encoder required for

high accuracy
1.3
DC Drive Analogy
In order to understand direct torque control scheme, one should have
knowledge about vector control and its control principle as explained in this
topic. As we know that vector control technique has dc like performance; dc
drive analogy for separately excited dc motor is explained here.
The equation of electromagnetic torque is given by,
Te K t f I a
Te K t I f I a
or
(1.1)
Ia
Where,
= Armature current (Torque component)
If
= Field current (Flux component)
PAGE 3
f
= Field flux
Kt
Kt
= constants
Ia
If
Ia
If
f
Figure 1.2 Separately Excited DC Motor
i qs
Ia
i ds
i qs
Vector
control
IM
Inverte
r
i ds
Figure 1.3 Vector Controlled Induction Motor
Te K t r I qs
Torque
Component
Field
Component
PAGE 4
Te K t I ds I qs
Torque
Field
Component
Component
The construction of dc machine is such that the field flux f
produced by the
current if is perpendicular to the armature flux a which is produced by armature current i a.

These quantities are stationary in space and orthogonal or decoupled in nature. This means
that when torque is controlled by controlling the current ia, the flux f is not affected and we
get fast transient response and high torque/ampere ratio with rated f. Similarly, when the
field current is controlled, it affects the field flux (f) only, but not the flux a. This is because
of decoupling. Because of the inherent coupling problem, an induction motor cannot
generally give such fast response.
1.4 Vector Control of Induction Motor

DC machine-like performance can be extended to an induction motor if machine
control is considered in a synchronously rotating reference frame (d e qe), where the
sinusoidal variables appear as dc quantities in steady state. In Figure 1.2(b), the induction
motor with the inverter and vector control in the front end is shown with control current
inputs, ids* and iqs*.These currents are the direct axis component and quadrature axis
components of the stator current respectively, in a synchronously rotating reference frame.
With vector control, ids is analogous to field current if and iqs is analogous to armature current
Ia of a dc machine. Therefore the torque can be expressed as
Te K t r I qs
Te K t I ds I qs
(1.2)
Or
I qs
Where,
= Torque component of current
I ds
= Flux component of current
= Peak value of sinusoidal flux
PAGE 5
Kt
Kt
=
= constants
This dc machine like performance is only possible if i ds is oriented (or aligned) in the
direction of flux r and iqs is established perpendicular to it, as shown by the space vector
diagram on the right of Figure. This means that when iqs* is controlled, it affects the actual iqs
current only. But does not affect the flux r .Similarly, when ids* is controlled, it controls the
flux only and does not affect the i qs component of current. This vector or field orientation of
currents is essential under all operating conditions in a vector controlled drive. Note that
when compared to dc machine space vectors, induction machine space vectors rotate
synchronously at frequency e , as indicated in the figure .In summary, vector control should
assure the correct orientation and equality of command and actual currents.
But vector control has disadvantages like the huge computational capability required
and the compulsory good identification of motor parameters. Other disadvantages are
Coordinate transformations are required, current controllers are required, PWM signals
generator. The performance of this method is very sensitive to change in the values of various
quantities Thus, to overcome from more computational steps are required to estimate various
quantities, complexity and to retain the performance obtained in vector control technique,
new technique called Direct Torque Control is proposed by I. Takahashi and T. Nogouchi.
1.5 Direct Torque Control of Induction Motor

Since, DTC (direct torque control) introduced in 1985, the DTC was widely used for
Induction Motor Drives with fast dynamics. Despite its simplicity, DTC is able to produce very
fast torque and flux control, if the torque and the flux are correctly estimated, is robust with respect
to motor parameters and perturbations .Unlike FOC (field oriented control), DTC does not require
any current regulator, coordinate transformation and PWM signals generator. In spite of its
simplicity, DTC allows a good torque control in steady-state and transient operating conditions to
be obtained.
Main Features of DTC are as follows:
(1) Direct control of flux and torque.

(2) Indirect control of stator currents and voltages.
(3) Approximately sinusoidal stator fluxes and stator currents.
PAGE 6
(4) High dynamic performance even at standstill

Main Advantages of DTC are as follows:
(1) Absence of co-ordinate transforms.
(2) Absence of voltage modulator block, as well as other controllers such as PID for motor
flux and torque.
(3) Minimal torque response time, even better than the vector controllers.
(4) Absence of voltage modulator as well as other controllers.
(5) Decoupled control of torque and stator flux
(6) Excellent torque dynamics with minimal response time.
(7) Inherent motion-sensor less control method since the motor speed is not required to
Achieve the torque control.
However, Some Disadvantages are also present such as:

(1) Possible problems during starting. It was suggested by that by compensating the stator
Resistance.
(2) voltage drop so that stator flux can be constructed quickly, which makes DTC be
applicable for low speed region.
(3) Inherent torque and stator flux ripple, which was overcome by when suggesting a
unified torque and flux control method using DTC-based induction motor drive
PAGE 7
Chapter 2
MATHEMATICAL MODEL OF PROPOSED
DIRECT TORQUE CONTROL FED INDUCTION
MOTOR
2.1 Proposed Block Diagram of DTC fed Induction Motor
ref
Flux error
Controller
+
Tref
Torque
Controller T
error
Vector
Selection
Table
n(r)
Vdc
Sa
Sb
Sc
Sector
Detection
ds
Testimated
qs
Flux&Torque
Estimator
estimated
3 phase to 2 phase
Transformation of
Voltages&Currents
IA
IB
3 Phase
IM
PAGE 8
Figure 2.1 Block Scheme of Direct Torque Control Method
2.2 Principle of Direct Torque Control

Direct Torque Control (DTC) has become an alternative to field oriented control or
vector control of induction machine. It was introduced in Japan by Takahashi (1984) and
Depenbrock (1985).DTC of induction machine has increasingly become the best alternative
to Field-Oriented Control methods. The block diagram of DTC system for an induction motor
is as shown in Figure 2.1 the DTC scheme comprises torque and flux estimator, hysteresis
comparators for flux and torque and a switching table. The configuration is much simpler
than the vector control system due to the absence of coordinate transforms between stationary
frame and synchronous frame and PI regulators. It also doesnt need a PWM and position
encoder, which introduces delay and requires mechanical transducers respectively. DTC
based drives are controlled in the manner of a closed loop system without using the current
regulation loop. DTC scheme uses a stationary d-q reference frame (fixed to the stator)
having its d-axis aligned with the stator q-axis. Torque and flux are controlled by the stator
voltage space vector defined in this reference frame. The basic concept of DTC is to control
directly the stator flux linkage (or rotor flux linkage or magnetising flux linkage) and
electromagnetic torque of machine simultaneously by the selection of optimum inverter
switching modes. The use of a switching table for voltage vector selection provides fast
response, low inverter switching frequency and low harmonic losses without the complex
field orientation by restricting the flux and torque errors within respective flux and torque
hysteresis bands with the optimum selection being made. The DTC controller comprises
hysteresis controllers for flux and torque to select the switching voltage vector in order to
maintain flux and torque between upper and lower limit.
2.3 Induction Motor Modelling

The main objective of DTC is to control the induction motor. The per-phase
equivalent circuit of an induction motor is valid only in steady-state condition. In an
adjustable speed drive like the DTC drive, the machine normally constitutes an element
within a feedback loop and hence its transient behaviour has to be taken into consideration.
The induction motor can be considered to be a transformer with short circuited and moving
PAGE 9
Secondary. The coupling coefficients between the stator and rotor phases change
continuously in the course of rotation of rotor. Hence the machine model can be described by
differential equations with time-varying mutual inductances.
For simplicity of analysis, a three phase machine which is supplied with three-phase
balanced supply can be represented by an equivalent two-phase machine as shown in Figure
2.2.The time-varying inductances are to be eliminated so as to obtain the dynamic model of
the induction motor . The time-varying inductance that occur due to an electric circuits in
relative motion and electric circuits with varying magnetic fields can be eliminated by
transforming the rotor variables associated with fictitious stator windings. For transient
studies of adjustable speed drives, the machine as well as its converter is modelled on a
stationary reference frame.
2.4 Three Phase to Two Phase Conversion
bs
Vbs
Vqs
q s axis
Vcs
Vas
as
Vds
cs
d s axis
PAGE 10
Figure 2.2 Stationary Frame as-bs-cs to ds-qs Axes Transformation

Assume that the ds-qs axes are oriented at angle, as shown in Figure 2.2.The voltages vdss
and vqss can be resolved into as-bs-cs components and can be represented in the matrix form
is given by following transformation matrix,
s
cos
sin
1 v qs
v as
v cos( 120 0 ) sin( 120 0 ) 1 v s

bs
ds s
0
0
vcs
cos( 120 ) sin( 120 ) 1 vos
(2.1)
And its Inverse transformation matrix is given as below,
v qs s
cos
s 2
v ds 3 sin
v s 1
os
2
vos
Where,
cos( 120 0 ) cos( 120 0 )

sin( 120 0 ) sin( 120 0 )
1
1
2
2
v as
v
bs
vcs
(2.2)
is zero sequence component and it is used here to make complete homogeneous
transformation matrix 3*3.

It is convenient to set = 00 in equation 2.2.so we get new matrix as below,
v qs s
2
s
v ds 3 0
v s 1
os
2
1
2
3
2
1
2
1

2
3
2
1
2
v as
vbs
v
cs
(2.3)
is angle between 3 phase stationary frame and 2 phase stationary frame. But for
reducing the complexity we take =0.It means both frames are align. So this matrix is
converted into the following form. By using equation 2.3, we can easily convert three phase
quantities in to two phase quantities. Here we have taken voltage but quantities like flux and
current are also transformed into two phase ds-qs frame using equation 2.3.
PAGE 11
2.5 Torque and Flux Estimator

Using equation 2.3, the motor flux and torque are calculated from the machine
terminal voltages and currents. The ds qs voltages and currents in stationary reference are
given as below.
Ids and Iqs are given as below,
s
I ds
3
I c I b 1 I a 2I b
2
3
(2.4)
s
I qs I a
(2.5)
And Vds and Vqs are given as below,

s
Vds
1
3
Vcs Vbs
1
3
Vab Vac
(2.6)
Vqs Vas
1
Vab Vac
3
(2.7)
If Vs is supply voltage and Rs is stator resistance per phase then voltage equation is given by,
Vs I s Rs
d s
dt
(2.8)
So, from equation 2.8,
d s
Vs I s Rs
dt
(2.9)
PAGE 12
As we know from above equation that, flux is the function of voltage. so, by integrating
voltage with respect to time we get flux.
ds s
Thus, from equations 2.4 and 2.6, flux
is given by,
ds s Vds s Rs I ds s dt
(2.10)
qs s
And from equations 2.5 and 2.7, flux
is given by,
qs s Vqs s Rs I qs s dt
(2.11)
The magnitude of the stator flux can be estimated by
s ds s
s 2
qs
(2.12)
Now, By using the flux components, current components and IM number of poles, the
electromagnetic torque can be calculated by
Te
3P
s
s
s
s
ds I qs qs I ds
22
s
This estimated flux
(2.13)
Te
and estimated torque
are compared with reference flux and
reference torque respectively.
2.6 Flux Comparator

Two level hysteresis comparator is used for Flux comparator to compare reference
flux and estimated flux. The error in flux is then given by 1 or 0.This two level comparator
has band of 2H.
flux error = 1 = Increase in flux ; if estimated flux < reference flux - H
(2.14a)
PAGE 13
flux error = 0 = Decrease in flux ; if estimated flux > reference flux + H (2.14b)
2.7 Torque Comparator

Three level hysteresis comparator is used for Torque comparator to compare reference
torque and estimated torque. The error in torque is then given by 1,0,-1.This three level
comparator has band of 2HT.
Torque error = 1 = Increase in torque; if estimated Torque < reference Torque HT (2.15a)
Torque error = 0
; if estimated Torque = reference Torque
(2.15b)
Torque error = -1 = Decrease in torque; if estimated Torque > reference Torque + HT (2.15c)
2.8 Inverter and Switching

Three legs inverter is used to supply three phase induction motor. Inverter diagram is shown
as below:
Figure 2.3 IGBT based 3 Legs Inverter

There are two switches per leg of inverter. As we know that, both of them are complimentary
to each other. Means if for particular leg, if upper switches is on or 1 then lower one set to off
or 0. So, only upper three switches of three legs are taken as a reference because remaining
three lower switches are complementary for respective legs.
Since there are three legs, no of possible combinations are given by 2 3 = 8.These possible
combinations are realised by switching the inverter with respective switching.
The 8 possible states of inverter with output phase voltages and V ds and Vqs is given in below
table 2.1.
PAGE 14
Table 2.1 Different States of Inverter
State
s
0
(V0)
1
(V1)
Sa
Sb
Sc
Vas
Vbs
Vcs
Vqs
Vds
2
Vdc
3
1
Vdc
3
1
Vdc
3
2
Vdc
3
2
(V2)
1
Vdc
3
1
Vdc
3
2
Vdc
3
1
Vdc
3
3
(V3)
1
Vdc
3
2
Vdc
3
1
Vdc
3
1
Vdc
3
4
(V4)
2
Vdc
3
1
Vdc
3
1
Vdc
3
2
Vdc
3
5
(V5)
1
Vdc
3
1
Vdc
3
2
Vdc
3
1
Vdc
3
Vdc
6
(V6)
1
Vdc
3
2
Vdc
3
1
Vdc
3
1
Vdc
3
Vdc
7
(V7)
From
2.1,it is
that
Vdc
3
Vdc
3
table
clear
there
are two zero vectors((V0), (V7)) and six non zero vectors((V1), (V2), (V3), (V4), (V5), (V6)).
Using above table2.1, Voltage Vds and Vqs are represented in ds qs reference frame.
As shown in Figure 2.4, whole frame is divided in to 6 sectors having 600 angular spams.
Phasor V0 and V7 are located at origin.
Boundary of various sectors is given by angle
as follows,
-30<30 (Sector 1)
(2.16a)
30<90 (Sector 2)
(2.16b)
PAGE 15
And
90<150 (Sector 3)
(2.16c)
150<210 (Sector 4)
(2.16d)
210<270 (Sector 5)
(2.16e)
270<330 (Sector 6)
(2.16f)
ds
is the angle between
qs s
and
and given by,
ds s
s
qs
tan 1
(2.17)
Figure 2.4 Sectors in DTC
2.9 How the Flux and Torque can be controlled?

PAGE 16
Depending upon the flux error, torque error, and sector, optimum switching of inverter
is done. This switching is such that flux and torque try to remain in hysteresis band.
For voltage phasor V, if k is the current sector then voltage Phasor is given by V k.
Increasing demand of flux can be fulfilled by switching the vector V k+1 or Vk-1. Decreasing
demand of flux can be fulfilled by switching the vector V k+2 or Vk-2. While for increasing
demand of torque can be fulfilled by switching the vector Vk+1 or Vk+2. And decreasing
demand of torque can be fulfilled by switching the vector Vk-1 or Vk-2.Vk+3 is used for
regenerative action.
Thus, there are four possible combination depending upon flux and torque errors as
listed below with respective Phasor switching.
Table 2.2 Selection of Voltage Phasor
Flux error
1
Torque error
1
0
-1
Voltage Phasor with respect to Phasor Vk

Vk+1
V0 or V7
Vk-1
1
0
-1
Vk+2
V0 or V7
Vk-2
By referring the figure 2.4, switching table is given a below,

Table 2.3 Optimal Switching Selection
Flux
error
Torque
error
Sector 1
Sector 2
Sector 3
Sector 4
Sector 5
Sector 6
V2(110)
V3(010)
V4(011)
V5(001)
V6(101)
V1(100)
V7(110)
V0(110)
V7(110)
V0(110)
V7(110)
V0(110)
-1
V6(101)
V1(100)
V2(110)
V3(010)
V4(011)
V5(001)
V3(010)
V4(011)
V5(001)
V6(101)
V1(100)
V2(110)
V0(110)
V7(110)
V0(110)
V7(110)
V0(110)
V7(110)
-1
V5(001)
V6(101)
V1(100)
V2(110)
V3(010)
V4(011)
2.10 Stator Flux Control

By selecting the appropriate inverter output voltage Vi (i=1-6), the stator flux s
rotates at the desired frequency s inside a specified band. If the stator ohmic drops are
PAGE 17
neglected, the stator voltage impresses directly the stator flux in accordance with the
equations (2.18) and (2.19).
Vs
d s
dt
(2.18)
d s Vs dt
(2.19)
Therefore the variation of the stator flux space vector due to the application of the stator
voltage vector Vs during a time interval of t can be approximated as in equation (2.20).
s Vs t
(2.20)
2.11 Torque Control

Te
3 P Lm
s r sin
2 2 Ls '
(2.21)
The electromagnetic torque given by equation (2.21) is a sinusoidal function of , the angle
between s and r as shown in Figure 2.5. The variation of stator flux vector will produce a
variation in the developed torque because of the variation of the angle between the two
vectors as in equation (2.22).
Te
3 P Lm
s s r sin
2 2 Ls '
(2.22)
In accordance with the Figure 2.5, the flux linkage and torque errors are restricted within its
respective hysteresis bands.
qs
Is
s s
PAGE 18
ds
Figure 2.5 Variations in Stator Flux, Rotor Flux and Angle

It can be proved that the flux hysteresis band affects the stator-current distortion in terms of
low order harmonics and the torque hysteresis band affects the switching frequency. The DTC
requires the flux and torque estimations, which can be performed as proposed in this model,
by means of two different phase currents and the state of the inverter. The flux and torque
estimations can be performed by means of other estimators using other magnitudes such as
two stator currents and the mechanical speed, or two stator currents again and the shaft
position.
PAGE 19
Chapter 3
SIMULATION AND ANALYSIS OF PROPOSED
DIRECT TORQUE CONTROL SCHEME
3.1Schematic Block Diagram of Direct Torque Control Method
ref
Flux error
Controller
+
Tref
Torque
Controller T
error
Vector
Selection
Table
n(r)
Vdc
Sa
Sb
Sc
Sector
Detection
ds
Testimated
qs
Flux&Torque
Estimator
estimated
3 phase to 2 phase
Transformation of
Voltages&Currents
IA
IB
3 Phase
IM
Figure 3.1 Schematic Block Diagram of Direct Torque Control Method
Direct Torque Control (DTC) has become an alternative to field oriented control or
vector control of induction machine. It was introduced in Japan by Takahashi (1984) and
PAGE 20
Depenbrock (1985).DTC of induction machine has increasingly become the best alternative
to Field-Oriented Control methods. The block diagram of DTC system for an induction motor
is as shown in Figure the DTC scheme comprises torque and flux estimator, hysteresis
comparators for flux and torque and a switching table. The configuration is much simpler
than the vector control system due to the absence of coordinate transforms between stationary
frame and synchronous frame and PI regulators. It also doesnt need a PWM and position
encoder, which introduces delay and requires mechanical transducers respectively. DTC
based drives are controlled in the manner of a closed loop system without using the current
regulation loop. DTC scheme uses a stationary d-q reference frame (fixed to the stator)
having its d-axis aligned with the stator q-axis. Torque and flux are controlled by the stator
voltage space vector defined in this reference frame. The basic concept of DTC is to control
directly the stator flux linkage (or rotor flux linkage or magnetizing flux linkage) and
electromagnetic torque of machine simultaneously by the selection of optimum inverter
switching modes. The use of a switching table for voltage vector selection provides fast
response, low inverter switching frequency and low harmonic losses without the complex
field orientation by restricting the flux and torque errors within respective flux and torque
hysteresis bands with the optimum selection being made. The DTC controller comprises
hysteresis controllers for flux and torque to select the switching voltage vector in order to
maintain flux and torque between upper and lower limit.
For simplicity of analysis, a three phase machine which is supplied with three-phase
balanced supply can be represented by an equivalent two-phase machine. The time-varying
inductances are to be eliminated so as to obtain the dynamic model of the induction motor .
The time-varying inductance that occur due to an electric circuits in relative motion and
electric circuits with varying magnetic fields can be eliminated by transforming the rotor
variables associated with fictitious stator windings. For transient studies of adjustable speed
drives, the machine as well as its converter is modelled on a stationary reference frame.
Matlab simulation of proposed DTC scheme is carried out in Matlab 2012b.
Above block diagram of proposed DTC scheme is simulated in Matlab 2012b.
PAGE 21
3.2 Matlab Simulation Diagram of Proposed DTC Scheme
PAGE 22
PAGE 23
Each block of DTC is explained as follows:
3.2Measurement of Machine Terminal Voltages and Currents using

Simpower Subsystem
In this block,required line voltages and currents are

measured.
Line voltages = Vab and Vac
currents = Ia , Ib and Ic
Figure 3.3 Measurement Block
3.4 Torque and Flux Estimation

This block is used to estimate Torque and Flux,
From below equations torque, stator flux and sector can be
calculated.
Te
3P
ds s I qs s qs s I ds s
22
(3.1)
s ds
tan
s 2
(3.2)
s 2
qs
(3.3)
ds s
s
qs
These above equations are simulated using Matlab Simulink tool as shown in figure 3.4;
PAGE 24
,
Figure 3.4 Torque and flux Estimation
3.5 DTC Controller
Figure 3.5 DTC Controller

This subsystem contains following user defined MATLAB function blocks.
PAGE 25
(1) Flux Comparator

Two level hysteresis comparator is used for Flux comparator to compare reference
flux and estimated flux. The error in flux is then given by 1 or 0.This two level comparator
has band of 2H.
Flux error = 1 = Increase in flux; if estimated flux < reference flux - H
Flux error = 0 = Decrease in flux; if estimated flux > reference flux + H
(2) Torque Comparator

Three level hysteresis comparator is used for Torque comparator to compare reference
torque and estimated torque. The error in torque is then given by 1, 0,-1.This three level
comparator has band of 2HT.
Torque error = 1 = Increase in flux; if estimated Torque < reference Torque HT]
Torque error = 0
; if estimated Torque = reference Torque
Torque error = -1 = Decrease in flux; if estimated Torque > reference Torque + HT
(3) Sector Determination

Boundary of various sectors is given by angle
as follows,
-30<30 (Sector 1)
30<90 (Sector 2)
90<150 (Sector 3)
150<210 (Sector 4)
210<270 (Sector 5)
270<330 (Sector 6)
(4) Switching Sequence

Outputs of flux comparator, torque comparator and sector selection blocks are given to
switching sequence block.
Depending upon flux error, torque error and sector selection; switching sequence block
Sa Sb Sc
generates
commands.
PAGE 26
Table 3.1 Switching Sequence

Flux
error
Torque
error
Sector 1
Sector 2
Sector 3
Sector 4
Sector 5
Sector 6
V2(110)
V3(010)
V4(011)
V5(001)
V6(101)
V1(100)
V7(110)
V0(110)
V7(110)
V0(110)
V7(110)
V0(110)
-1
V6(101)
V1(100)
V2(110)
V3(010)
V4(011)
V5(001)
V3(010)
V4(011)
V5(001)
V6(101)
V1(100)
V2(110)
V0(110)
V7(110)
V0(110)
V7(110)
V0(110)
V7(110)
-1
V5(001)
V6(101)
V1(100)
V2(110)
V3(010)
V4(011)
3.6 IGBT based Inverter

Three legs inverter is used to supply three phase induction motor. There are two switches per
leg of inverter. As we know that, both of them are complimentary to each other. Means if for
particular leg, if upper switches is on or 1 then lower one set to off or 0. So, only upper three
switches of three legs are taken as a reference because remaining three lower switches are
complementary for respective legs.
Figure 3.6 IGBT based 3 phase Inverter
PAGE 27
3.7 Analysis of Proposed DTC Scheme

1) For 5.4 HP (4 KW), 400 V, 50 Hz, 1430 RPM, 3-phase Induction Motor,
Induction Motor parameters are given in table 3.2.
Table 3.2 5.4 HP Induction Motor Parameters

Stator resistance (Ohms)
1.405
Stator inductance (Henry)
0.005839
Rotor resistance (Ohms)
1.395
Rotor inductance (Henry)
0.005839
Mutual inductance
(Henry)
0.1722
Inertia(kg m2)
0.0131
Friction Factor(Nms)
0.002985
Pairs of poles
2
2N
60
P T *
(3.4)
P * 60
2N
(3.5)
4000 * 60
2 *1430
(3.6)
T 26.7 Nm
(3.7)
T
T
PAGE 28
Matlab Simulation of above motor is simulated for 1 s.
1) Four Quadrants Operation of Induction Motor

First Quadrant Operation
Torque waveforms are shown in figure 3.7. It shows that estimated torque is tracking
the reference torque. Initially, In order to run at its no load speed, P controller generates 26
Nm torque. After achieving its no load speed (1430 rpm), torque drops to near to zero value.
Means motor operates at no load condition. At 0.4 s, full load torque 25 Nm is applied. So
speed decreases and motor generates 25 Nm torque. From given below figure it is clear that
estimated Torque trace Reference Torque within 7 ms and corresponding drop in speed shown
in figure 3.8 is 25 rpm.
PAGE 29
Figure 3.7 Reference and Estimated Torque for First Quadrant Operation of 5.4 HP Motor
Figure 3.8 Speed Waveform for First Quadrant Operation of 5.4 HP Motor
Second Quadrant Operation

Nm torque. After achieving its no load speed (1430rpm), torque drops to near to zero value.
Means motor operates at no load condition. At 0.4 s, full load torque -25 Nm is applied. So
speed increases and motor generates -25 Nm torque. From given below figure it is clear that
estimated Torque trace Reference Torque within 7 ms and corresponding rise in speed shown
in figure 3.10 is 25 rpm.
PAGE 30
Figure 3.9 Reference and Estimated Torque for Second Quadrant Operation of 5.4 HP Motor
Figure 3.10 Speed Waveform for Second Quadrant Operation of 5.4 HP Motor
Third Quadrant Operation

the reference torque. Initially, In order to run at its no load speed with speed reversal, P
controller generates -26 Nm torque because negative reference is given for speed. After
achieving its no load speed (-1430 rpm), torque drops to near to zero value. Means motor
operates at no load condition. At 0.4 s, full load torque -25 Nm is applied. So speed decreases
and motor generates -25 Nm torque. From given below figure it is clear that estimated Torque
PAGE 31
trace Reference Torque within 7 ms and corresponding drop in speed shown in figure 3.12 is
25 rpm.
Figure 3.11 Reference and Estimated Torque for Third Quadrant Operation of 5.4 HP Motor
Figure 3.12 Speed Waveform for Third Quadrant Operation of 5.4 HP Motor
Fourth Quadrant Operation

operates at no load condition. At 0.4 s, full load torque 25 Nm is applied. So speed increases
and motor generates 25 Nm torque. From given below figure it is clear that estimated Torque
PAGE 32
trace Reference Torque within 7 ms and corresponding rise in speed shown in figure 3.14 is
25 rpm.
Figure 3.13 Reference and Estimated Torque for Third Quadrant Operation of 5.4 HP Motor
Figure 3.14 Speed Waveform for Fourth Quadrant Operation of 5.4 HP Motor
2) Dynamic performance of Induction Motor during sudden changes in

Load Torque
Torque waveforms are shown in figure 3.165. It shows that estimated torque is
tracking the reference torque. Initially, In order to run at its no load speed, P controller
generates 26 Nm torque because negative reference is given for speed. After achieving its no
load speed (1430 rpm), torque drops to near to zero value. Means motor operates at no load
condition. At 0.3 s, full load torque 25 Nm is applied. So speed decreases and motor
PAGE 33
generates 25 Nm torque within 7 ms. At 0.6 s, new load of -25 Nm is applied. From given
below figure it is clear that to achieve -25 Nm torque from 25 Nm, Motor takes 9.6 ms and
corresponding changes in speed are shown in figure 3.16.
Figure 3.15 Reference and Estimated Torque Waveforms of 5.4 HP Motor on application of
sudden changes in Load Torque
Figure 3.16 Speed Waveform of 5.4 HP Motor on application of sudden changes in Load
Torque
3) Reversal of Speed at No Load and Full Load Torque

Reversal of Speed at No Load
Speed waveform is shown in figure 3.17. It shows that Speed is tracking the reference
Speed. Initially, In order to run at its no load speed, P controller generates 26 Nm torque.
After achieving its no load speed (1430 rpm), torque drops near to zero value. Means motor
operates at no load condition. At 0.5 s, Negative reference of speed (-1430 rpm) is applied.
PAGE 34
So, P controller generates -26 Nm torque and speed starts dropping and rotates in reverse
direction. From given below figure it is clear that Motor achieves its negative no load speed
within 150 ms and corresponding changes in Torque are shown in figure 3.18.
Figure 3.17 Speed Waveform of 5.4 HP Motor for Speed Reversal at No Load
Figure 3.18 Reference and Estimated Torque Waveforms of 5.4 HP Motor for Speed Reversal
at No Load
Reversal of Speed at Full Load

operates at no load condition. At 0.2 s, full load torque of 25 Nm is applied so, there is
corresponding drop in speed. At 0.5 s, Negative reference of speed (-1430 rpm) is applied.
PAGE 35
direction. On achieving negative speed, p controller generates full load Torque again. From
given below figure it is clear that Motor achieves its negative full load speed within 150 ms
and corresponding changes in Torque are shown in figure 3.20. Motor rotates in negative
direction with its full load torque as shown in figure 3.20.
Figure 3.19 Speed Waveform of 5.4 HP Motor for Speed Reversal at Full Load
Figure 3.20 Reference and Estimated Torque Waveforms of 5.4 HP Motor for Speed Reversal
at Full Load
Reference and Estimated Flux Waveforms

As shown figure 3.21 reference flux is given 0.8 pu. Estimated Flux is exactly tracking the
reference flux.
PAGE 36
Figure 3.21 Reference and Estimated Flux Waveforms of 5.4 HP Motor
Stator Flux Trajectory
Fig 3.22 Stator Flux locus of 5.4 HP Motor
Changes in Stator Currents, Torque and Speed

This below figure 3.23 shows simultaneous changes in respective quantities Torque, Currents
and Speed on application of 10 Nm load at 0.4 s and another 15 Nm at 0.8 s.
PAGE 37
Figure 3.23 Changes in Stator Currents, Torque and Speed of 5.4 HP Motor on application of
Load Torque
2) For 50 HP (37 KW), 400 V, 50 Hz, 1480 RPM, 3-phase Induction Motor,
Induction Motor parameters are given in table 3.3.
Table 3.3 50 HP Induction motor parameters
PAGE 38
Stator Resistance (Ohms)

0.08233
Stator Inductance (Henry)
0.000724
Rotor Resistance (Ohms)
0.0503
Rotor Inductance (Henry)
0.000724
Mutual Inductance (Henry)
0.02711
Inertia(kg m2)
0.37
Friction Factor(Nms)
0.02791
Pairs of Poles
2
2N
60
P T *
(3.8)
P * 60
2N
(3.9)
37000 * 60
2 *1480
(3.10)
T 238.73 Nm
(3.11)
Matlab Simulation of above motor is simulated for 2 s.
PAGE 39
1) Four Quadrants Operation of Induction Motor

First Quadrant Operation
Nm torque. After achieving its no load speed (1480 rpm), torque drops to near to zero value.
Means motor operates at no load condition. At 1 s, full load torque 225 Nm is applied. So
speed decreases and motor generates 225 Nm torque. From given below figure it is clear that
estimated Torque trace Reference Torque within 80 ms and corresponding drop in speed
shown in figure 3.25 is 250 rpm.
PAGE 40
Figure 3.24 Reference and Estimated Torque for First Quadrant Operation of 50HP Motor
Figure 3.25 Speed Waveform for First Quadrant Operation of 50 HP Motor
Second Quadrant Operation

Nm torque. After achieving its no load speed (1480rpm), torque drops to near to zero value.
Means motor operates at no load condition. At 1 s, full load torque -225 Nm is applied. So
speed increases and motor generates -225 Nm torque. From given below figure it is clear that
estimated Torque trace Reference Torque within 80 ms and corresponding rise in speed
shown in figure 3.27 is 250 rpm.
PAGE 41
Figure 3.26 Reference and Estimated Torque for Second Quadrant Operation of 50HP Motor
Figure 3.27 Speed Waveform for Second Quadrant Operation of 50HP Motor
Third Quadrant Operation

operates at no load condition. At 1 s, full load torque -225 Nm is applied. So speed decreases
and motor generates -225 Nm torque. From given below figure it is clear that estimated
PAGE 42
Torque trace Reference Torque within 80 ms and corresponding drop in speed shown in
figure 3.29 is 250 rpm.
Figure 3.28 Reference and Estimated Torque for Third Quadrant Operation of 50HP Motor
Figure 3.29 Speed Waveform for Third quadrant Operation of 50HP Motor
Fourth Quadrant Operation

operates at no load condition. At 1 s, full load torque 25 Nm is applied. So speed increases
and motor generates 225 Nm torque. From given below figure it is clear that estimated
PAGE 43
Torque trace Reference Torque within 80ms and corresponding rise in speed shown in figure
3.31 is 250 rpm.
Figure 3.30 Reference and Estimated Torque for Fourth Quadrant Operation of 50HP Motor
Figure 3.31 Speed Waveform for Fourth Quadrant Operation of 50HP Motor
2) Dynamic performance of Induction Motor during sudden changes in

Load Torque
Nm torque because negative reference is given for speed. After achieving its no load speed
(1480rpm), torque drops to near to zero value. Means motor operates at no load condition. At
1 s, full load torque 225 Nm is applied. So speed decreases and motor generates 225 Nm
PAGE 44
torque with in 166ms. At 1.5 s, new load of -225 Nm is applied. From given below figure it is
clear that to achieve -225 Nm torque from 225 Nm, Motor takes 250 ms and corresponding
changes in speed are shown in figure 3.33.
Figure 3.32 Reference and estimated Torque Waveforms of 50 HP Motor on application of

sudden changes in Load Torque
Figure 3.33 Speed Waveform of 50 HP Motor on application of sudden changes in Load

Torque
3) Reversal of Speed at No Load and Full Load Torque

Reversal of Speed at No Load
operates at no load condition. At 1.2 s, Negative reference of speed (-1480 rpm) is applied.
PAGE 45
direction. From given below figure it is clear that Motor achieves its negative no load speed
within 616 ms and corresponding changes in Torque are shown in figure 3.35.
Figure 3.34 Speed Waveform of 50 HP Motor for Speed Reversal at No Load
Figure 3.35 Reference and Estimated Torque of 50 HP Motor for Speed Reversal at No Load
Reversal of Speed at Full Load

operates at no load condition. At 1 s, full load torque of 225 Nm is applied so, there is
corresponding drop in speed. At 1.5 s, Negative reference of speed (-1480 rpm) is applied.
PAGE 46
direction. On achieving negative speed, p controller generates full load Torque again. From
given below figure it is clear that Motor achieves its negative full load speed within 425 ms
and corresponding changes in Torque are shown in figure. Motor rotates in negative direction
with its full load torque as shown in figure 3.37.
Figure 3.36 Speed Waveform of 50 HP Motor for Speed Reversal at Full Load
Figure 3.37 Reference and Estimated Torque of 50 HP Motor for Speed Reversal at Full Load
Reference and Estimated Flux Waveforms

As shown figure 3.38 reference flux is given 0.8 pu. Estimated Flux is exactly tracking the
reference flux.
PAGE 47
Figure 3.38 Reference and Estimated Flux Waveforms of 50 HP Motor
Stator flux Trajectory
Fig 3.39 Stator Flux locus of 50 HP Motor
Changes in Stator Currents, Torque and Speed

This below figure 3.40 shows simultaneous changes in respective quantities Torque, Currents
and Speed on application of 100 Nm load at 1 s and another 100 Nm at 1.4 s.
PAGE 48
Figure 3.40 Changes in Stator Currents, Torque and Speed of 50 HP Motor
3.8 Flowchart of Proposed Control Algorithm for DTC based Induction

Motor Drive
PAGE 49
Start
Initialization of reference flux, reference speed,

stator resistance, number of poles
Measurement of line voltages and currents
3 phase to 2 phase transformation Voltages and

Currents
s
Vds
1
3
Vcs Vbs
Vab Vac
1
Vab Vac
3
Vqs Vas
I ds
3
I c I b 1 I a 2I b
2
3
Estimation of Flux, Torque
ds s Vds s Rs I ds s dt
qs Vqs Rs I qs dt
s
s ds s
s 2
qs
PAGE 50
No
If
No
If
Estimated flux < Reference flux + H
Estimated flux > Reference flux + H
Yes
Yes
Flux error =
Flux error = 1
No
If
Estimated Torque > Reference
Torque + HT
If
No
Estimated Torque = Reference

Torque + HT
If
Estimated Torque < Reference

Torque + HT
Yes
Yes
Torque error =
Torque error = 0
No
Yes
Torque error = 1
Switching Selection
Sa, Sb and Sc
Angle calculation
INSTITUTE OF TECHNOLOGY, NIRMA UNIVERSITYs
1 ds
Switching
tanSelection
End
End s
A
Sc qs
Sector
Sector
Selection
Sa ,SbSelection
and
PAGE 51
B
B
Figure 3.41 Flowchart of Proposed Control Algorithm for DTC based Induction Motor Drive
The proposed algorithm can be developed using Matlab program. The flow chart for the same
is shown in above flowchart.
Chapter 4
PAGE 52
CONCLUSION AND FUTURE SCOPE
The proposed project aims to develop a Simulink model of direct torque controlled Induction
Motor Drive. The proposed DTC scheme has been simulated in MATLAB 2012 Environment
using SimPower system block set under Simulink library browser. The DTC technique allows
the independent and decoupled control of torque and stator flux. Two different Motors having
Nameplate rating of 5.4 HP (4 kW) and 50 HP (37 kW) have been simulated for four
quadrant operation, sudden change in dynamic load and speed reversal at their respective no
load and full load. Simulation waveforms of respective Motors show satisfactory results with
an application of their respective Load Torques. Estimated quantities trace Reference
quantities within fraction of seconds. Hence proposed DTC scheme has been verified from
the simulation results.
The Proposed Direct Torque Control can be fabricated with the help of microcontroller.
References
PAGE 53
[1] B. K. Bose, Modern Power Electronics and AC Drives.Englewood Cliffs, NJ: Prentice
Hall, 2001.
[2] P. Vas (1995), DSP controlled Intelligent High performance AC Drives,
Present and Future, IEE, Savoy place, London, WC2R OBL, pp 1-8
[3] R. Krishnan, Electric Motor Drives - Modelling, Analysis, and Control, 2001.
PAGE 54

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SIMULATION AND ANALYSIS OF DIRECT TORQUE CONTROLLED INDUCTION MOTOR

CONTROL INDUCTION MOTOR DRIVE

INSTITUTE OF TECHNOLOGY, NIRMA UNIVERSITY

SIMULATION AND ANALYSIS OF DIRECT TORQUE CONTROLLED INDUCTION MOTOR

performance, vector control is known as decoupling, orthogonal or transvector

Classifications of Different Control Methods

Figure 1.1 General Classification of Induction Motor Control Methods

INSTITUTE OF TECHNOLOGY, NIRMA UNIVERSITY

SIMULATION AND ANALYSIS OF DIRECT TORQUE CONTROLLED INDUCTION MOTOR

Encoder always required

Encoder required for

= Armature current (Torque component)

INSTITUTE OF TECHNOLOGY, NIRMA UNIVERSITY

SIMULATION AND ANALYSIS OF DIRECT TORQUE CONTROLLED INDUCTION MOTOR

Figure 1.3 Vector Controlled Induction Motor

INSTITUTE OF TECHNOLOGY, NIRMA UNIVERSITY

SIMULATION AND ANALYSIS OF DIRECT TORQUE CONTROLLED INDUCTION MOTOR

The construction of dc machine is such that the field flux f

current if is perpendicular to the armature flux a which is produced by armature current i a.

1.4 Vector Control of Induction Motor

= Torque component of current

INSTITUTE OF TECHNOLOGY, NIRMA UNIVERSITY

= Peak value of sinusoidal flux

SIMULATION AND ANALYSIS OF DIRECT TORQUE CONTROLLED INDUCTION MOTOR

1.5 Direct Torque Control of Induction Motor

(1) Direct control of flux and torque.

SIMULATION AND ANALYSIS OF DIRECT TORQUE CONTROLLED INDUCTION MOTOR

(4) High dynamic performance even at standstill

However, Some Disadvantages are also present such as:

INSTITUTE OF TECHNOLOGY, NIRMA UNIVERSITY

SIMULATION AND ANALYSIS OF DIRECT TORQUE CONTROLLED INDUCTION MOTOR

INSTITUTE OF TECHNOLOGY, NIRMA UNIVERSITY

SIMULATION AND ANALYSIS OF DIRECT TORQUE CONTROLLED INDUCTION MOTOR

Figure 2.1 Block Scheme of Direct Torque Control Method

2.2 Principle of Direct Torque Control

2.3 Induction Motor Modelling

INSTITUTE OF TECHNOLOGY, NIRMA UNIVERSITY

SIMULATION AND ANALYSIS OF DIRECT TORQUE CONTROLLED INDUCTION MOTOR

2.4 Three Phase to Two Phase Conversion

INSTITUTE OF TECHNOLOGY, NIRMA UNIVERSITY

SIMULATION AND ANALYSIS OF DIRECT TORQUE CONTROLLED INDUCTION MOTOR

Figure 2.2 Stationary Frame as-bs-cs to ds-qs Axes Transformation

v cos( 120 0 ) sin( 120 0 ) 1 v s

And its Inverse transformation matrix is given as below,

cos( 120 0 ) cos( 120 0 )

is zero sequence component and it is used here to make complete homogeneous

transformation matrix 3*3.

INSTITUTE OF TECHNOLOGY, NIRMA UNIVERSITY

SIMULATION AND ANALYSIS OF DIRECT TORQUE CONTROLLED INDUCTION MOTOR

2.5 Torque and Flux Estimator

And Vds and Vqs are given as below,

So, from equation 2.8,

INSTITUTE OF TECHNOLOGY, NIRMA UNIVERSITY

SIMULATION AND ANALYSIS OF DIRECT TORQUE CONTROLLED INDUCTION MOTOR

The magnitude of the stator flux can be estimated by

are compared with reference flux and

reference torque respectively.

2.6 Flux Comparator

SIMULATION AND ANALYSIS OF DIRECT TORQUE CONTROLLED INDUCTION MOTOR

2.7 Torque Comparator

; if estimated Torque = reference Torque

2.8 Inverter and Switching

Figure 2.3 IGBT based 3 Legs Inverter

INSTITUTE OF TECHNOLOGY, NIRMA UNIVERSITY