DIRECT TORQUE CONTROL FOR INDUCTION

MOTOR DRIVES

MAIN FEATURES OF DTC

• Decoupled control of torque and flux

• Absence of mechanical transducers
• Current regulator, PWM pulse generation, PI control
of flux and torque and co-ordinate transformation
are not required
• Very simple control scheme and low computational
time
• Reduced parameter sensitivity
 BLOCK DIAGRAM OF DTC SCHEME

+ _

ϕ ss* + ∆ϕ ss
_ Voltage
Vector
T* + ϕ ss ∆T Selection
_
T Sa Sb Sc
s Stator
Torque ϕs s
Flux vs 2 E
Estimator 3
Estimator
i ss 2 ib
ia
3

Induction
Motor

In principle the DTC method selects one of the six

nonzero and two zero voltage vectors of the inverter on
the basis of the instantaneous errors in torque and stator
flux magnitude.
 MAIN TOPICS

⇒ Space vector representation

⇒ Fundamental concept of DTC
⇒ Rotor flux reference
⇒ Voltage vector selection criteria
⇒ Amplitude of flux and torque hysteresis band
⇒ Direct self control (DSC)
⇒ SVM applied to DTC
⇒ Flux estimation at low speed
⇒ Sensitivity to parameter variations and current
sensor offsets
⇒ Conclusions
INVERTER OUTPUT VOLTAGE VECTORS

Sw 1 Sw 3 Sw 5

E a b c

Sw 2 Sw 4 Sw 6

Voltage-source inverter (VSI)

For each possible switching configuration, the output

voltages can be represented in terms of space vectors,
according to the following equation

 2π 4π 
2 j j
v a + vb e 3 + v c e 3 
s
vs =
3  

where va, vb and vc are phase voltages.
Sw1 Sw2 Sw3 Sw4 Sw5 Sw6 Sa(t) Sb(t) Sc(t) vk
OFF ON OFF ON OFF ON 0 0 0 v0
ON OFF OFF ON OFF ON 1 0 0 v1
ON OFF ON OFF OFF ON 1 1 0 v2
OFF ON ON OFF OFF ON 0 1 0 v3
OFF ON ON OFF ON OFF 0 1 1 v4
OFF ON OFF ON ON OFF 0 0 1 v5
ON OFF OFF ON ON OFF 1 0 1 v6
ON OFF ON OFF ON OFF 1 1 1 v7

_ Im (q) _
V3 V2

_
_
V4 _ _ _1 I V1
V 0 V7 k Re (d)

Vs = k E
_
is

_ _
V5 V6

Inverter output voltage vectors

 GENERAL REPRESENTATION OF THE
INVERTER OUTPUT VOLTAGE VECTORS

The inverter switching configuration defines the line-

to-line voltages by
vab = E [ S a (t ) − Sb (t )]

vbc = E [ Sb (t ) − S c (t )]

vca = E [ S c (t ) − S a (t )]
In the absence of omopolar generators and assuming a
symmetrical machine yields
va + vb + vc = 0
and the line-to-neutral voltages can be expressed as a
function of two line-to-line voltages
2vab + vbc
va =
3
vbc − vab
vb =
3
− vab − 2vbc
vc =
3
 Then, by substitution we obtain

2 S a ( t ) − Sb ( t ) − S c ( t )
va = E
3
2 Sb ( t ) − S a ( t ) − S c ( t )
vb = E
3
2 S c ( t ) − S a ( t ) − Sb ( t )
vc = E
3
Using these equations the space vector of the phase
voltages becomes

 2π 4π 
2 j j
v s = E  S a (t ) + Sb (t )e 3 + S c (t )e 3 
s
3  
 
The power balance equation, neglecting the inverter
losses, leads to
 2π 4π 
2 j j
I =  S a (t ) + Sb (t )e 3 + S c (t )e 3  • i ss
3  
 
 FUNDAMENTAL CONCEPT OF DTC
STATOR FLUX VECTOR VARIATION
Assuming the voltage drop R s i ss small, the stator flux is
driven in the direction of the stator voltage v ss
s s
∆ϕ s ≅ vs ∆T , where ∆T is the sampling period
_
v k+2 _
v k+1

_ _
v k+3 _ vk
vo k-th sector ωs

ϕ ss

∆ϕs
_ _
v k-2 v k-1

The flux variation is proportional to E, ∆T and has the same direction of

the voltage vector applied.
 VOLTAGE SPACE VECTOR NAMES
_
v k+2 _
v k+1

_ _
v k+3 _ vk
vo k-th sector ωs

ϕ ss

∆ϕs
_ _
v k-2 v k-1

vk ⇒ radial positive voltage vector

vk+1 ⇒ forward positive “
vk+2 ⇒ forward negative “
vk+3 ⇒ radial negative “
vk-1 ⇒ backward positive “
vk-2 ⇒ backward negative “
v0 e v7 ⇒ zero “
 ROTOR FLUX AND TORQUE VARIATION

From the general equations written in the rotor

reference frame, we can derive
Lm 1 Lm2
ϕ rr = ϕ sr with σ = 1−
Ls 1 + sστ r L s Lr

This equation shows the nature of rotor flux

dynamic response for changes in stator flux

3 Lm 3 Lm
T= p ϕ sr • j ϕ rr = p ϕ s ϕ r sin ϑ sr
2 σLs Lr 2 σLs Lr

Any stator flux vector variation determines a torque

variation on the basis of two contributions
I) The variation of the stator flux magnitude
II) The variation of the stator flux phase angle with
respect to rotor flux
Any command which causes the flux angle ϑ sr to
change will determine a quick torque variation.
 EXPERIMENTAL SET-UP

Main

Driver &
Personal Protection
Computer

Sa
Sb
Sc

E
DAC
DSP
ia
ADC ic
torque meter

LOAD
Torque & Flux
Command

l IGBT inverter, 1000 V, 50 A

l DSP TMS320E15, 20 MHz.
l 1 MHz, 8-channel, 12-bit A/D
converter
l 2-channel, 16-bit D/A converter
 EXPERIMENTAL RESULTS

Stator flux locus, steady state, ωm = 100 rad/s

Rotor flux locus, steady state, ωm = 100 rad/s

 EXPERIMENTAL RESULTS

Estimated d and q components of stator flux during the

response to a torque command alternating between
50% and 200% of the rated torque

These results show that the decoupling between the

stator flux components can be achieved controlling
directly the magnitude of the stator flux