ANALYSIS OF INDUCTION MOTOR

DRIVE WITH DIRECT TORQUE

CONTROL SCHEME USING SPACE
VECTOR MODULATION
BY
V.VINOD KUMAR
213EE4324
POWER
ELECTRONICS &
DRIVES
DEC -2014

OVERVIEW
Evolution of drive control techniques
Literature review
Objective
Principle of Direct Torque Control (DTC) scheme
Block diagram of DTC
Simultaneous and decoupled control of torque and flux
Simulation results of uncontrolled induction motor
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EVOLUTION OF DRIVE CONTROL

TECHNIQUES

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COMPARISON OF CONTROL TYPES

Control
Type

Torqu Flux
e
Cont
contr rol
ol

Respo
nse

Advantages

Disadvantages

DC Drive

Direct

Direct

High

High Accuracy
Good torque
response
Simple

Motor maintenance
High motor cost
Encoder required for
high accuracy

Scalar
Frequency
Control

None

None

Low

No encoder
Simple

Low accuracy
Poor torque response

Flux Vector
Control

Indirec
t

Direct

High

High Accuracy
Good torque
response

Encoder always
required

Direct

High

No encoder
Moderate speed
accuracy
Excellent torque
response

Encoder required for

high speed accuracy

Direct Torque Direct

Control

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COMPARISON OF CONTROL
VARIABLES
DRIVE

CONTROL
VARIABLES

Dc Drives

Armature Current,
Field Current,

Ia

If

Ac Drives (PWM)

Output Voltage. V
Output Frequency, f

Field oriented (Vector)

controlled
Drive

Rotor flux current id

Torque current iq

Direct Torque Control Drive

Motor Torque, T
Motor Magnetising Flux,

Direct Torque Control (DTC) is the first drive

technology to control the real motor control
variables,
torque
and
flux.
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Literature review
Author

Proposed
Technique

Results

Takahashi Isao,
Noguchi Toshihiko in
1986

Limit cycle control of

both torque and flux
using optimum PWM
output voltage.

Proposed control circuit has the

disadvantage of making some
drift in extremely low
frequency operation which can
however be compensated
easily and automatically to
minimise the effect of variation
of machine constant.

Thomas G.Habetler,
Francesco Profumo,
Michele Pastorelli
and Leon M. Tolbert
in 1992

Direct torque control

method of induction
machine based on
predictive, deadbeat
control of the torque
and flux.

The change in torque and

flux,over the switching period
is calculated by estimating the
synchronous speed and the
stator voltage is calculated
which is required to cause the
torque and flux to be equal to
their respective reference
values.

M.vasudevan and
Dr. R.Arumugan in
2004

New Direct Torque

Field Oriented Control, Direct
Control Scheme of
Torque
Induction Motor for
Control (DTC), and DTC using
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Electric vehicle.
Space Vector Modulation are
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Literature review
Author

Proposed
Technique

Results

Sarat K Sahoo,
Tulsiram
Das,Vedam
Subrahmanyam in
2008

Implementation and
Simulation of DTC
scheme with the use
of FPGA scheme

By using simple compensator

based on
steady state operation, the
magnitude and phase error
associated with stator flux
estimation based on voltage
model is compensated.

K.B.Mohanty in
2009

A Direct Torque
Controlled Induction
Motor with Variable
Hysteresis Band.

A strategy of variable duty ratio

control scheme technique
minimizes torque and current
ripples, improves torque
response, and reduces switching
losses in spite of its simplicity.

S.L.Kaila and
H.B.Jani in 2011

Direct torque control The switching instants of

of induction motor
different space vectors are
using space
vectorVUDATHA
determined
for each sampling
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, NIT
pulse width
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OBJECTIVE
To ground this review, many prior art research
papers have been read to distilled into three
main topic points.
First, understanding and modeling the
uncontrolled induction motor, and especially the
mathematical
representation
via
MATLAB/
SIMULINK for the dynamic electromechanical
coupled equations.
Second, torque, flux and speed
estimation by sensing machine terminal voltages
and currents i.e by voltage model.
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KUMAR VUDATHA
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Finally, the
third,
studying
the Direct
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Principle of DTC scheme

The basic principle of DTC is to directly select stator
voltage vectors according to the torque and flux errors
which are the differences between the references of
torque and stator flux and their estimated values.
The governing equation for torque for this scheme is
due to the interaction of stator and rotor fields. Torque
and stator flux linkage are computed from measured
motor terminal quantities i.e. stator voltages and
current.
An optimal voltage vector for the switching of VSI is
selected from the six nonzero voltage vectors and two
zero voltage vectors by the hysteresis control of stator
flux and torque.
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Block diagram of DTC

control

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Direct flux control

Sa

State

2
3
4

V6

V5

V4

V3

V2

V1

V0

Voltage
Vector

Sc

Sb

V7

CIRCULAR TRAJECTORY OF STATOR FLUX

SELECTED
APPLIED VOLTAGE VECTOR

The stator flux varies

along
s = Vthe
direction of applied voltage
s
vector and the equation
t is

In general the active forward voltage vectors ( Vs,k+1 and Vs,k+2)

are applied to increase or decrease the stator flux respectively
when the stator flux lies in sector k.. The active reverse voltage
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KUMAR
VUDATHA
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vectors (Vs,k-1 and Vs,k-2
) are
used
to , increase
or decrease the
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stator flux in reverse direction.

Direct torque control

The incremental torque expression Te is given as :

Te =)I r I I s + sI sin

Te (sin
)

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SIMULTANEOUS AND DECOUPLED CONTROL

OF TORQUE AND FLUX

Say the flux vector is in sector k .

Application of active forward voltage vectors :

Vs,k+1

Te

&

Vs,k+2

Te
Application of active reverse voltage vectors :

Vs,k-1

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e
s,k-2
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&

Switching selection
A high performance torque control can be established due to the
decoupled control of stator flux and torque in DTC.
Optimum switching vector selection table given below shows the
optimum selection of the switching vectors in all sectors of the
stator flux plane.
This table is based on the value of stator flux error status, torque
error status and orientation of stator flux for clockwise and
counter-clockwise rotation of the shaft.
H = 1 for E > + HB ; H = -1 for E < - HB
FLUX
HYSTEREISIS CONTROLLER
HTe
S(1)

1 HTe= 11 for HTe >V+

2 HBTe
HYSTERISIS CONTROLLER

-1

S(2) S(3)
S(4)
S(5)
;VH
Te =-1
V4for ETe <V-5 HBTe V6
3

S(6)
V1
TORQUE

V7

V0

V7

V0

V7

V0

-1

V6

V1

V2

V3

V4

V5

V3

V4

V5

V6

V0

V7

V0

-1

V5

V6

V1

V7
V2

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V1

V2

V0
V3

V7
V4

Why DTC is superior to vector control

of induction motor ??
Comparison
Property

Direct Torque
Control

Field
oriented(Vector)
Control

Cordinates reference
frame

d,q (stator stationary

ref frame)

d,q (rotor)

Controlled variables

Torque and stator flux

Rotor flux,torque
current iq and rotor
flux current id

Parameter sensitivity

Stator resistance

d,q inductances,rotor
resistance

Rotor speed
measurement

Not required

Required

Cordinate
transformations

Not required

Required

Switching losses

Lower

Low

Typical control cycle

time

10 to 30 micro
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100 to 500 micro

seconds

Simulation Results for Uncontrolled Induction Motor

Results for no-load condition (TL = 0 )

(a) Electromagnetic Torque

(b) Rotor Speed

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(c) Stator Current

(d) d-axis flux

(e) q axis flux

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Results for Load Torque ( TL = 2 Nm)

(a) Electromagnetic Torque

(b) Rotor Speed

(c) Trajectory of q-axis and d-axis flux in stator reference

frame

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THANK YOU
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