IMPROVING

DIRECT TORQUE CONTROL

USING MATRIX CONVERTERS


Technical University of Catalonia.
Electronics Engineering Department.
Colom 1, Terrassa 08222, Catalonia, Spain


University of Malta.
Department of Electrical Power and Control
Engineering.
Msida MSD 06, Malta




Research Student:
Carlos Ortega Garca



Home Supervisor:
Dr. Antoni Arias Pujol



Malta Supervisor:
Dr. Cedric Caruana
2
Index
Introduction
Matrix Converters.
Direct Torque Control.
- Classical
- Using Matrix Converters.
Sensorless Control of a DTC drive using hf injection
Conclusions.




3
Introduction
Matrix Converters (MC)
Advanced circuit topology capable of generating AC-AC.
Load voltage with arbitrary amplitude and frequency, and
sinusoidal input/output waveforms.
Power Factor Correction (PFC).
No inductive or capacitive elements
are required, thus allowing a very
compact design.
A very good alternative to Voltage Source Inverters (VSI).
4
Direct Torque Control (DTC).

Simple and robust signal processing scheme.
No coordinate transformation and no PWM generation are
needed.
Quick and precise torque response.
The torque and flux modulus values and sector of the flux are
needed.
High torque ripple.
Introduction
5
High Frequency Signal Injection.

Non Model-Based method.
Avoids problems at low and zero speed due to the lack of
back-EMF.
No dependence of machine parameters.
Saliency required.
Introduction
6
Main objectives:

Improve the Direct Torque Control, regarding torque ripple,
using small vectors of Matrix Converters.
Analysis of different High Frequency signal Injection
methods for sensorless Direct Torque Control.
Introduction
7
A switch, S
ij
, i={A,B,C}, j={a,b,c} can
connect phase i of the input to phase j
of the load.
Switches states characterized by:

=
closed is switch if 1
open is switch if 0
ij
ij
ij
S
S
S
A mathematical model of the MC can be derived:
Voltage equations: Current equations:
(
(
(

(
(
(

=
(
(
(

) (
) (
) (
) ( ) ( ) (
) ( ) ( ) (
) ( ) ( ) (
) (
) (
) (
t v
t v
t v
t S t S t S
t S t S t S
t S t S t S
t v
t v
t v
C
B
A
Cc Bc Ac
Cb Bb Ab
Ca Ba Aa
cN
bN
aN
(
(
(

(
(
(

=
(
(
(

) (
) (
) (
) ( ) ( ) (
) ( ) ( ) (
) ( ) ( ) (
) (
) (
) (
t i
t i
t i
t S t S t S
t S t S t S
t S t S t S
t i
t i
t i
c
b
a
Cc Cb Ca
Bc Bb Ba
Ac Ab Aa
C
B
A
V
SB
S
Ab
S
Ac
V
SA
V
SC
M
L
f
L
f
L
f
R
f
Rf
Rf
S
Aa
S
Ba
S
Bb
S
Bc
S
Cb
S
Cc
S
Ca
C
f
C
f
C
f
Matrix Converter Input Filter
I
SB
I
SA
I
SC
I
a
I
b
I
c
I
B
I
A
I
C
V
aN
V
bN
V
cN
State of the Art
Matrix Converters
8
Since any output phase can be connected to any input phase, there are 27
possible switching configurations.
Applying Clarks transformation to all switching states, it can be found that
MC can generate:
- 18 active vectors, 6 rotating vectors, and 3 zero vectors.

Output line-to-neutral voltage vectors Input line current vectors
Matrix Converters
Sector
1
2
3
4
5
6
1,2, 3

4
,

5
,

7
,

8
,

9
a)
Sector
1
2 3
4
5
6

2
,

5
,

1
,

4
,
7
3
,

6
,
9
b)
State of the Art
9
Direct Torque Control

Stator flux
*
s
and torque T
*
e

references are compared with the
corresponding estimated values.
Both stator flux and torque errors,
E

and E
Te
, are processed by means
of hysteresis band comparators.
A proper VSI voltage vector is
selected.
The flux vector reference and the
hysteresis band tracks a circular
trajectory, thus, the actual flux
follows its reference within the
hysteresis band in a zigzag path.
Look-up table
Flux and Torque Estimator

S
H
T
e
T
e
*

S
*
T
e

S
E
H
Te
E
Te
Voltage Source Inverter
I
A
I
B
V
o
S
A
S
B
S
C
S(n)
M
S(1)
S(2) S(3)
S(4)
S(5) S(6)
V
3
At
1
V
4
At
2
V
3
At
3
V
4
At
4

S
V
1
V
2
V
3
V
4
V
5
V
6
A
1
A
2
A
3
A
4
A
5
A
6
a) b)
sin | | | |
' 2
3
s r
s r
m
e
L L
L
p T =
10
Direct Torque Control using
Matrix Converters
Matrix converter generates a higher
number of output voltage vectors
with respect to a VSI.
Another variable, <sin |>, is
introduced to control the input
power factor.
Keeping this variable close to zero,
unity power factor operation is
possible.
A new hysteresis comparator is introduced which controls this variable.
Classical DTC using Matrix Converters
Voltage Vector
Table
Matrix
Converter
Flux and Torque
Estimator

S
H
|
T
e
T
e
*

S
*
T
e

S
I
A
I
B
V
o
S(n)
S
A
S
B
S
C
H

H
Te
<sin |>
E
Te
E

<sin |>
estimator
M
Direct Torque Control for Induction Motors Using Matrix Converters (CPE-05)
11
A new torque hysteresis comparator will provide
four different levels instead of three to distinguish
between small and large positive and negative
torque errors.
E
Te
H
Te
H
Te
E
Te
Large vectors will be used when
large torque error is detected.
When torque error is small, the small
voltage vector will be applied.
Zero vectors will be applied if small
torque error is detected and back
EMF imposes a variation in torque
towards its reference value.
The use of small vectors of Matrix Converters
Zero vect or applied Lowtorque slope
Small vect or applied Medium t orque slope
Upper t orque band
Lower t orque band
Large vect or applied High t orque slope
Upper t orque band
Lower t orque band
a) b)
Direct Torque Control using
Matrix Converters
12
Torque ripple performance.
Comparison between the classical use of MC in DTC and the proposed method.
Classical DTC using MC Proposed method
0.85 0.9 0.95 1
4
4.5
5
5.5
6
6.5
7
7.5
8
Time (s)
T
o
r
q
u
e

(
N
m
)
0.85 0.9 0.95 1
4
4.5
5
5.5
6
6.5
7
7.5
8
Time (s)
T
o
r
q
u
e

(
N
m
)
The use of small vectors of Matrix Converters
e
ref
=100% rated speed and T
L
=100% rated torque.
Direct Torque Control using
Matrix Converters
13
Torque ripple performance.
Comparison between the classical use of MC in DTC and the proposed method.
The use of small vectors of Matrix Converters
0 250 500 750 1000 1250 1500
0.1
0.15
0.2
0.25
0.3
0.35
0.4
0.45
0.5
Speed (rpm)
r
m
s

v
a
l
u
e

o
f

T
e

E
R
R
O
R

(
N
m
)
Classcal DTC using MC
Proposed method
The use of zero and large vectors in
the classical method leads into an
over/undershoot, more pronounced
as the speed increases.
Small vectors are more effective
keeping the torque within the its
reference bands.
Direct Torque Control using
Matrix Converters
14
Sensorless Control
Saliency
o
|
g
max
g
min
u
r
u
(a)
(b)
g
max
g
min
L
m
u
r(elec)
Asymmetry in the machine.
Magnetizing inductance variation.
Asymmetry in the rotor Rotor Position.
( )
( )
(

=
(

t
t
V
v
v
i
i
i
s i
s i
e
e
|
o
cos
sin
( ) ( )
( ) ( )
(

A +
A +
=
(

t L t L
t L t L
L L
V
i
i
i r s i s
i r s i s
qs ds i
i
s i
s i
e u e
e u e
e
|
o
2 sin sin
2 cos cos
15
Sensorless Control
o| frame rotating injection.
Straightforward in vector
controlled drives.
The carrier can be
superimposed to the
voltage reference.
v
ds
*
i
qs
*
i
ds
*
Voltage
Source
Inverter
i
abc
i
o|
PMSM
flux position
estimate
+
-
-
+
abc
o|
u
e
+
+
+
+
dq
o|
dq
o|
PI
PI
i
ds
i
qs
v
qs
*
v
os
*
v
|s
*
v
osi
v
|si
i
o|
e
i
e
i
tan
-1
e
j2e
i
t
e
-je
i
t
i
o|
i
io|
i
ipos
Synchronous filter
Band-pass
filter
High-pass
filter
2u
r
16
Sensorless Control
o| injection in a DTC drive.
Flux and Torque processed
errors, H
s
and H
Te
, converted
directly to switching signals.
No voltage command =>
Difficult to inject.
Injection directly modifying the
vector pattern imposed by the
DTC switching table.

V
4
V
5
V
4
V
6 V
n
V
n
V
n
+
1
V
n
+
1
xK xK
T
z
T
i
Voltage Vector
Table
Stator Flux
and
Torque
Estimator

S
H
T
e
T
e
*

S
* E
H
Te
E
Te
Voltage
Source
Inverter
i
abc
i
o|
S
A
S
B
S
C
S(n)
PMSM
Injection
algorithm
VSI
+
PMSM
hf Model
abc/o|
i
io|
VSI
+
Fundamental
Estimator
Synchronous
filter
i
fo|
+
-
-
-
-
+
+
+
High bandwidth of hysteresis controllers.
Difficult to inject outside of this bandwidth.
Decoupling of fundamental and hf currents is necessary

17
Sensorless Control
o| injection in a DTC drive.
Steady state at 375 rpm Speed reversal.
Comparison between real and estimated position
0 0.05 0.1 0.15 0.2
-4
-2
0
2
4
Time (s)
M
o
d
e
l

b
a
s
e
d









a
n
g
l
e

e
s
t
i
m
a
t
e

(
r
a
d
)
0 0.05 0.1 0.15 0.2
-4
-2
0
2
4
Time (s)
I
n
j
e
c
t
i
o
n

m
e
t
h
o
d




a
n
g
l
e

e
s
t
i
m
a
t
e

(
r
a
d
)
0 0.1 0.2 0.3 0.4 0.5 0.6
-4
-2
0
2
4
Time (s)
M
o
d
e
l

b
a
s
e
d









a
n
g
l
e

e
s
t
i
m
a
t
e

(
r
a
d
)
0 0.1 0.2 0.3 0.4 0.5 0.6
-4
-2
0
2
4
Time (s)
I
n
j
e
c
t
i
o
n

m
e
t
h
o
d




a
n
g
l
e

e
s
t
i
m
a
t
e

(
r
a
d
)
18
Conclusions

Advantages of Matrix Converters over the traditional VSI has
been combined with the advantages of the DTC scheme.
The use of small vectors of the MC has been investigated.
High frequency injection in a DTC drive has been presented.

19
Thank you.