DTC Controller Design for IM with wavelet Noise Reduction

Khalaf Salloum Gaeid IEEE Member Electrical Engineering Department ,Tikrit University ,Iraq E-Mail: salimhazim2010 gmail!c"m

bstract! The alg"rithm "# the $irect t"rq%e c"ntr"l &DT'( inv"lves a $ec"%pling "# )"th t"rq%e an$ #l%* thr"%gh a t+" c"ntr"l l""ps! In this alg"rithm, the inverter s+itching a)ility is c"mpletely %se$ as a res%lt impr"ves the "verall system per#"rmance! ,tat"r #l%* an$ t"rq%e estimati"n )ase$ "n v"ltage m"$el an$ l"+ pass #ilter is %se$ t" "verc"me the sat%rati"n an$ D' $ri#t! -e+ meth"$ "# DT' %sing +avelet impr"ves the in$%cti"n m"t"r "perati"n, s%ch as minimizing the n"ise in the inner an$ "%ter "perati"n cl"se$ l""p system! The sim%lati"n res%lts pr"ve that the pr"p"se$ c"ntr"l alg"rithm is e##icient an$ r")%st in )"th transient an$ stea$y state regi"ns! Ke"words! DT'. In$%cti"n M"t"r. ,pee$ '"ntr"ller, /l%* an$ T"rq%e Estimati"n, 0avelet #$ Introduction The c"nversi"n "# electrical energy int" a mechanical energy is the principle "# any electrical m"t"r! T+" in$epen$ent c"ntr"l l""ps can )e %tilize$ t" per#"rm the $ec"%pling "# )"th #l%* an$ t"rq%e "# in$%cti"n m"t"r $rive +hen the DT' appr"ach is %se$ 112! The $ynamic per#"rmance speci#icati"ns "# the in$%cti"n m"t"r $rive an$ hence the stea$y state are cl"sely relate$ t" the acc%rate veri#icati"n "# $ec"%pling pr"cess! The v"ltage m"$el )ase$ is +ell-kn"+n meth"$s t" estimate the #l%* an$ t"rq%e parameters 122, )esi$e the c%rrent m"$el )ase$! ,ensing "# )"th c%rrent an$ v"ltage are %se$ as a t""l t" per#"rm the estimati"n! /irstly the DT' +as patente$ )y the invent"r Man#re$ D! 0ith t+" patents ,"ne in U, an$ in 3ermany142,152! Direct sel#-c"ntr"l &D,'( +as the ")6ect "# the )"th patents! ,imilar techniq%e, $escri)e$ )y 7apanese invent"rs Takahashi an$ -"g%chi terme$ $irect t"rq%e c"ntr"l &DT'( 18,92! The merits "# DT' c"mpare$ t" the tra$iti"nal :' $rive techn"l"gy are in the #"ll"+ing aspects, t"rq%e resp"nse, t"rq%e c"ntr"l at l"+ #req%encies, t"rq%e repeata)ility, m"t"r static spee$ acc%racy an$ $ynamic spee$ acc%racy 1;2: The a$vantages "# +avelet trans#"rm is l"calize$ in )"th time an$ #req%ency $"mains, res%lting +avelet c"e##icients at $i##erent levels an$ scales! :cc"r$ing t" that, the +avelet trans#"rm &0T( )ecame s" imp"rtant in the analysis "# signals +ith l"calize$ stea$y state an$ transient c"mp"nents! : +avelet ne%ral net+"rk &0--( e##ective scheme "# parameter i$enti#icati"n is presente$ #"r impr"ving $ynamic per#"rmance "# DT' system has )een ma$e )y 1<2! In the c"nventi"nal DT' "# in$%cti"n m"t"r, the stat"r c%rrent l"+ "r$er harm"nic c"mp"nent is very high at l"+ spee$! It yiel$s

high m"t"r t"rq%e ripple at l"+ spee$ 1=2! : +avelet ne%ral net+"rks &0--( are applie$ t" DT an$ #l%* c"ntr"l #"r the IM $rives! The 0-- c"ntr"ller +ith the str%ct%re "# n"nlinear a%t"regressive m"ving average &-:>M:( )ase$ ne%ral net+"rk is %tilize$ as spee$ c"ntr"ller t" c"ntr"l the t"rq%e1102! ?ase$ "n the c"nventi"nal DT' meth"$, the t"rq%e an$ #l%* m"$els have )een estimate$ an$ analyze$! The c"ntri)%ti"n "# this paper, a ne+ c"ntr"l meth"$ has )een pr"p"se$ t" s"lve spee$ harm"nic c"mp"nent at l"+ spee$! T" #%rther impr"ve the t"rq%e resp"nse an$ re$%ce the t"rq%e ripple, +avelet n"ise re$%cti"n c"ncept has )een intr"$%ce$ int" the t"rq%e an$ #l%* m"$els! The paper is "rganize$ as #"ll"+s! In ,ecti"n 2, +e present the DT' "perati"n, an$ then +e ")tain the spee$ c"ntr"ller in ,ecti"n 4! In ,ecti"n 5, +e present +avelet n"ise re$%cti"n, an$ the res%lt an$ $isc%ssi"n "# the pr"p"se$ appr"ach is ill%strate$ in ,ecti"n 8, an$ the paper en$s +ith s"me c"ncl%$ing remarks in ,ecti"n 9! %$ DTC &'eration There are t+" general c"ntr"l meth"$s in varia)le #req%ency $rive &@/D( ,vect"r c"ntr"l an$ scalar c"ntr"l! Direct t"rq%e c"ntr"l &DT'( is c"nsi$ere$ as a "ne types "# the vect"r c"ntr"l +hich is %se$ t" c"ntr"l )"th in$%cti"n m"t"r t"rq%e an$ spee$! Meas%rement "# )"th v"ltage an$ c%rrent "# the m"t"r is %se$ t" estimate the t"rq%e an$ #l%* 1112! The estimati"n "# stat"r #l%* linkage has )een per#"rme$ )y integrating the )"th $irect an$ q%a$rat%re stat"r v"ltages! The estimati"n "# the t"rq%e +ill )e ")taine$ )y pr"$%ct "# estimate$ m"t"rAs stat"r #l%* an$ c%rrent vect"rs! '"mparis"n estimate$ #l%* magnit%$e +ith the re#erence #l%* an$ the estimate$ t"rq%e +ith re#erence val%e is the ne*t step in the generati"n "# c"ntr"l signal pr"cess as can )e seen in /ig!1!/l%* hysteresis an$ t"rq%e hysteresis c"ntr"llers #i*e$ +ith certain all"+e$ t"lerance #"r each "# them! I# the $i##erence )et+een estimate$ t"rq%e "r #l%* an$ their re#erences m"re than all"+e$ t"lerance, the I3?T s+itches "# the @/D are t%rne$ "## an$ the err"rs "# the #l%* an$ t"rq%e +ill remain at l"+ levels! The a)"ve c"mparis"n "# )"th t"rq%e an$ #l%* +ith their re#erences +ill c"ntr"l the v"ltages "# the inverter 1122! The s+itching is a ran$"m pr"cess )eca%se "# the hysteresis )ehavi"r c"ntr"l!

(ig$#$ DT' principle pr"cess The DT' can )e $ivi$e$ int" t+" types, either $irect sel# c"ntr"l&D,'( "r space vect"r m"$%lati"n&,@M(1142! The s+itching ta)le in DT' all"+s selecting the vect"r p"siti"n t" apply t" the inverter acc"r$ing t" the D' "# the stat"r #l%* an$ the electr"magnetic t"rq%e 1152 as can )e sh"+n in ta)le 1! /r"m ta)le1, "ne can n"tice that the s+itching #req%ency "# the I3?Ts %se$ in this scheme is n"t c"nstant! I# +e c"ntr"l the t"lerance )an$s, the average s+itching #req%ency can )e kept at its re#erence val%e, hence the c%rrent an$ t"rq%e ripple +ill )e minimize$!

Ta)le 1!,+itching Ta)le "# DT' ,ect"r 4 5

u5
u0 u8 u; u4 u9 u0

1
dT = +1
d = +1
u2
u0 u9 u4 u; u8

2
u4 u;

8
u9 u0

9
u1
u; u8

dT = 0 dT = 1
dT = +1

u1
u5
u0 u9

u2
u8 u;

u5
u1
u; u4

u2
u0

d = 1

dT = 0 dT = 1

u1

u2

u5

0hen the in$%cti"n m"t"r r%n +ith higher spee$s, there are n" sensitive parameters )%t at l"+ spee$s the stat"r #l%* estimati"n )ec"mes s" imp"rtant an$ critical $%e t" err"r in stat"r resistance pr"perty 1182119211;2 2.1. Torque and Flux Estimation M"re attenti"n has )een pai$ t" the v"ltage m"$el #l%* estimat"r rather than the c%rrent m"$el )ase$ in its clear c"ncept an$ simple signal pr"cessing! The initial err"r val%e an$ D' "##set inp%t, in l"+ spee$ stage, cann"t )e s%ppresse$ )y the l"+ pass #ilter &BC/(, as +ell as , the BC/ )rings stea$ystate err"rs in )"th amplit%$e an$ phase 11<2! The $q $ynamic m"$el "# a sq%irrel cage in$%cti"n m"t"r +ith a re#erence #rame #i*e$ t" the stat"r is given )y 11=2:
s + j M s s dt d r + & ( M Vr = R i + r r s r r dt

Vs = R i +
s s

&1( &2( &4( &5( &8( &9( &;(

The #l%* "n the q-a*is +hich is the real part "# the stat"r #l%* can )e ")taine$ as in &4(
qs = v qs iqs R s

The #l%* "n the q-a*is +hich is the Imaginary part "# the stat"r #l%* can )e ")taine$ as in &5(
ds = v ds i ds Rs

The estimate$ stat"r #l%* can )e ")taine$ as in &8(

s = qs + jds

The magnit%$e "# the #l%* is:

s = qs +ds

The phase shi#t +ill )e as:

= a tan
img real

The electr"magnetic t"rq%e is #"%n$ as: 2 pLm Te = &iqs idr ids iqr ( 4 Lr

&<(

pLm D s DD r D sin& ( Ls Lr is angle )et+een the s E r vect"rs Te =

&=(

= 1

L2 m

0here is the leakage #l%* The t"rq%e an$ #l%* estimati"n circ%it can )e sh"+n in the /ig!2
!q 1 2 !d Iqs 3 Rs i_qs Rs i_ds Ids i_ds -1 Re Im |u| u Flux 2 3 angle phi_q K Ts z-1 K Ts z-1 phi_d i_qs 3/2*p 1 Torque

L s Lr

&10(

(ig$% $ Tor)ue and flu* estimation ItAs ")vi"%s #r"m &=( that an increase in t"rq%e can )e ")taine$ )y increasing the phase angle int" h"riz"ntal an$ vertical )et+een stat"r an$ r"t"r #l%* vect"r& s E r (! Divi$ing the vect"r )eing resp"nsi)le #"r t"rq%e c"ntr"l & q s ( an$ the c"mp"nents, the vertical c"mp"nent "# h"riz"ntal c"mp"nent & d s ( c"ntr"ls the #l%* as sh"+n in /ig!4!
qs Torque increase

flux increase Lamda(s) ds Lamda(r)

(ig$+$ DT' $rive c"ntr"l "# )"th #l%* an$ t"rq%e T+" schemes "# DT' c"ntr"l +as implemente$, "ne +ith"%t %sing +avelet techniq%es as can )e sh"+n in /ig5! an$ the "ther "ne +ith +avelet n"ise re$%cti"n as +ill )e seen later!

1 !d& -us 2 Torque* 3 Flux*

'(F

%orque (I *+ %o ,-# %rans )lux (I PWM ge ne ration 1 $a%es

I_a/ Torque and )lux es%ima%or . !_a/&

Flux sele&%ion

2 "ag#

/ig!5 ! ,im%link implementati"n "# the DT' +ith"%t 0avelet +$ S'eed Controller The $irect t"rq%e an$ #l%* c"ntr"l &DT/'( %ses a select"r s+itches statements "# the v"ltage inverter c"mp"nents %sing ne%ral net+"rk $"ne )y 1202! :s can )e seen in /ig!8, DT' %ses l""k%p ta)les t" select the s+itching pr"cess acc"r$ing t" the inverter states! 1212!:cc%rate kn"+le$ge "# )"th magnit%$e an$ p"siti"n "# c"ntr"lle$ #l%* sh"%l$ )e kn"+n t" get e##icient DT' c"ntr"l in the in$%cti"n m"t"rs! The meas%re$ stat"r v"ltages an$ c%rrents are %se$ t" ")tain the #l%* acc"r$ing t" the stat"r v"ltage m"$el as menti"ne$ )e#"re in /ig!2 !This meth"$, %ses the "pen l""p trapez"i$al integrati"n !The c"ntr"l alg"rithm %ses the C0M meth"$ are )ase$ "n average val%es an$ the s+itching signals #"r the inverter 1222! Cr"p"rti"nal pl%s Integral &CI( c"ntr"ller an$ the C0M is %se$ t" minimize the t"rq%e ripples an$ make inverter have )etter e##iciency!

lookup table re) speed01*2 2 3 " ag# 1 a&%ual speed012

1 Flux*

ZIC

Rate limitter PI Saturated M ulti switch LPF 2 Torque*

/ig! 8 ! ,im%link implementati"n "# the spee$ c"ntr"ller ,$ Circuit Im'lementation The e##ectiveness "# the pr"p"se$ DT' )ase$ "n +avelet n"ise re$%cti"n )l"ck $iagram is $epicte$ in /ig!9! In this circ%it sampling time is 2e-8 ,ec %se$ t" )e very #ast in "r$er t" prevent the #l%* an$ t"rq%e $eviati"n #r"m the all"+e$ t"lerance! I# the c"ntr"l alg"rithm has 18- 40 Fsec e*ec%ti"n time "r less it +ill give g""$ res%lts as +ell as it +ill )e a simplicity in$icati"n "# the alg"rithm!

RT -Cwref 1/z RT

1 1* 3s% )lux

re) Flux* Torq re)*

RT

Discrete, Tspowergui = 0.0001 s. F28335 eZdsp

4peed #on%roller Signal Build

Tm Flux* Torque* I_a/ !_a/& 3s% )lux $a%es Pulses A B C A B C Vabc a b c

Induction Motor
Tm A B C wm m is_abc

IM measur

*T# IGBT Inverter

Iab

Iabc

1/z

actual speed

/ig!9 ! ,im%link implementati"n "# the pr"p"se$ alg"rithm In this circ%it there are many ")servati"ns +hich give the DT' c"ntr"l its p"+er#%l s%ch as, there is n" nee$ #"r c""r$inate trans#"rms )l"cks )eca%se the in$%cti"n m"t"r is +ith stati"nary re#erence #rame! CI c%rrent c"ntr"llers are eliminate$ #r"m the inner l""p ,hence n" t%ning an$ #aster time "# implementati"n! /inally, the D' ripple is re$%ce$ t" l"+est level $%e t" the r")%st DT' scheme! -$ .avelet Noise Reduction The meanings "# the +avelets are little +ave "r ripple +ith small time $%rati"n, the pr"perties "# the +avelet that $i##erentiates it #r"m the "ther signal pr"cessing techniq%es an$ make it )etter than the "thers! The +avelet either "rth"g"nal "r n"n "rth"g"nal1242 ! The +avelet $ilati"n an$ translati"n are %se$ t" trans#"rm the "riginal t" ne+ signal +ith smaller scales acc"r$ing t" high #req%ency c"mp"nents! The scaling #%ncti"n $etermine$ )y the B?/ s" that is ass"ciate$ +ith the appr"*imati"ns "# the +avelet $ec"mp"siti"n, the +avelet #%ncti"n $etermine$ )y the G?/ s" that is ass"ciate$ +ith the $etails "# the +avelet $ec"mp"siti"n! The -"ise >e$%cti"n s%)system sh"+s +avelet )%t +ith a s"#t thresh"l$ applie$ t" the trans#"rme$ signal )an$s! The pr"p"se$ t"rq%e an$ #l%* +avelet n"ise re$%cti"n reg%lat"rs are $evel"pe$ )y %sing +avelet $)10 +ith < levels $ec"mp"siti"n as can )e seen in /ig!;!

3 !d& -us 2 Torque * Noise reduction wavelet 1 Flux* Noise reduction wavelet

LPF

Torque (I

*+ %o ,-# )lux (I

PWM Generation

2 $a%es

I_a/ Flux and %orque es% . !_a/& Flux Selector 1 "ag#

/ig! ; ! ,im%link implementati"n "# the DT' +ith 0avelet ?y atten%ating the higher #req%ency )an$s, the high #req%ency n"ise is re$%ce$ an$ the thresh"l$ levels can )e a$6%ste$ t" see the e##ects "# atten%ati"n "n the $en"ising characteristics "# the system! : ne+ c"ntin%"%s +avelet eq%ati"n +as $evel"pe$ this circ%it as in &11(! W = F &&t 50 H 42( + 2 I F &&t 50( H <( &11( 0here F is the #l%* #%ncti"n as can )e seen in the /ig!< an$ /ig!= #"r r%nning signal that %se$ Pattern F a$aptive &$)10 (+avelet !
(Integral = 0.9485) 0.8 0.6 0.4 0.2 0 0

0.2

0.4

0.6

0.8

Pattern and A dapted W avelet 0.8 0.6 0.4 0.2 0 0 0.2 0.4 0.6 0.8 1

/ig!< ! In$%cti"n m"t"r act%al #l%*&a)"ve( +ith a$apte$ +avelet #l%* "%tp%t
R u n n in gS ig n a l F ((t-4 0 )/3 2 ) +2 ((t-4 0 )/8 ) F 2 1 0 0 6 4 2 0 4 0 6 0 8 0 P a tte rn D e te c tio nu s in gA d a p te dW a v e le t

3 2

8 0 2 0 4 0 6 0 8 0

/ig!= ! In$%cti"n m"t"r r%nning signal &a)"ve( an$ pattern $etecti"n +ith a$apte$&$)10( +avelet

Using Matla)H,im%link t" #in$ the percentage "# energy c"rresp"n$ing t" the appr"*imati"n in#"rmati"n &Ea(, an$ the percentages "# energy c"rresp"n$ing t" the $etail in#"rmati"n & E $ ( as can )e sh"+n in ta)le 2 +hich is acc"r$ing t" Eq!12 investigati"n!
1 E a , E" 2 = energ! &C , L(

&12(

0here &C#L( is the stat"r c%rrent &Ia( $ec"mp"siti"n at each level Ta)le 2! Energy percentage "# $etails an$ appr"*imati"n +ith 11 levels &$)10( +avelet

Energ" /ercentage

00$012+

00$0132

00$0100

00$03# #

00$03# ,

00$03, 0

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The "ptimal $ec"mp"siti"n +ith respect t" a c"nvenient criteri"n can )e ")taine$ )y an e##icient alg"rithm! The entr"py &E( #%ncti"ns is a criteri"n that veri#ying an a$$itive-type pr"perty are +ell s%ite$ #"r this )eca%se E&0( J 0 an$ there is n" in#"rmati"n l"ss1252! :cc"r$ing t" the entr"py & l"g energy( type ,the )est level is 9 as can )e sh"+n in /ig!10!
Tree Decomposition

data for node: (78) or (6,15). 0.05

(0,0) (1,0) (2,0) (3,0) (4,0) (5,0) (5,1) (5,2) (4,1) (5,3) (5,4) (4,2) (5,5) (5,6) (3,1) (4,3) (5,7) (2,1) (1,1)

(6,0) (6,1) (6,2) (6,3) (6,4) (6,5) (6,6) (6,7) (6,8) (6,9) (6,10)(6,11) (6,12)(6,13) (6,14)(6,15)

-0.05

2000

4000

6000

8000

10000

12000

14000

/ig!10!?est level $ec"mp"siti"n, )est tree&le#t( an$ $ata #"r n"$e&9,18( 2$ Results and Discussion T" veri#y the pr"p"se$ alg"rithm, a sim%lati"n has )een carrie$ "%t )y %sing Matla)H ,im%link! The starting c%rrent is re$%ce$ #r"m &9!8-2!8( :mp +ith"%t m%ch $ist"rti"n! The stat"r c%rrent $%ring varia)le re#erence spee$ is $epicte$ in /ig!11!

5
Current(Amp)

2.5

2.5-

4
Time(sec)

12

/ig!11! In$%cti"n m"t"r c%rrent The stea$y state resp"nses at spee$ 2000 >CM %n$er #%ll l"a$ t"rq%e &4!8-!m( an$ at spee$ 4000>CM %n$er l"a$ t"rq%e &2-!m( "perating c"n$iti"n are ill%strate$ in /ig!12! It is n"tice$ that the presente$ scheme $elivers a stea$y state per#"rmance at spee$ 2000>CM an$ ;0 >CM transient spee$ resp"nse +ithin a minimal time "# 0!4 ,ec!
3200 2800 2400

Speed(RPM)

2000 1600 1200 800 400 0 0 4 Time(sec) 8 12

/ig!12! In$%cti"n m"t"r spee$ re#erence an$ act%al spee$ The 19!99 K t"rq%e "versh""t is re$%ce$ t" <!8;15K in the case "# pr"p"se$ +avelet n"ise re$%cti"n meth"$ as $epicte$ in /ig!14! It is n"tice$ that the +avelet pr"p"se$ scheme pr"vi$es a sm""th stea$y state per#"rmance in terms "# t"rq%e t" impr"ve$ "verall system per#"rmance!

2 Torque(N.m)

2-

4-

4 Time(sec)

12

/ig!14 ! In$%cti"n m"t"r t"rq%e +ith +avelet &re$( an$ +ith"%t +avelet &green(

The t"rq%e err"r )et+een +avelet n"ise re$%cti"n t"rq%e an$ t"rq%e estimati"n in pr"p"se$ meth"$ is l"+ an$ eq%al t" L0!4-!m as can )e sh"+n in /ig!15!
0.4 0.3 0.2 Torque(N.m) 0.1 0 0.10.20.30.41 2 3 4 5 Time(sec) 6 7 7 9 10

/ig!15 ! T"rq%e err"r )et+een +avelet n"ise re$%cti"n t"rq%e an$ t"rq%e estimati"n The D' v"ltage $elivere$ t" the circ%it can )e $epicte$ as in /ig!18!
750 700

DC voltage applied(volt)

650

600

550

500 0

4 Time(sec)

12

/ig! 18 ! In$%cti"n m"t"r D' v"ltage The stat"r #l%* estimati"n +ith an$ +ith"%t +avelet can )e sh"+n in /ig! 19!
1 0.9 0.8 Flux ( Wb ) 0.7 0.6 0.5 0.4 0.3 0.2 0.1 0 0 flux estimation without wavelet flux estimation with wavelet

5 Time(sec)

10

/ig!19 ! In$%cti"n m"t"r #l%* The parameters "# in$%cti"n m"t"r that are %se$ in this sim%lati"n are sh"+n in ta)le 4!

Ta)le4!In$%cti"n m"t"r parameters

M"t"r speci#icati"n Unit @al%e C"+er M+ 1 '%rrent :mpere 2!8 @"ltage &$elta( @"lt 500 >ate$ spee$ 2<00 >CM -"! "# C"le 2 2 M"ment "# inertia Mg!m 4!8e-5 ,tat"r resist! N 20!= >"t"r resist! N 1=!8 ,tat"r in$%ct! Genry 80e-4 >"t"r in$%ct! Genry 80e-4 2$ Conclusions This paper has presente$ a m"$i#ie$ DT' )ase$ "n +avelet net+"rk as n"ise re$%cti"n in )"th inner an$ "%ter cl"se l""p system "# stat"r #l%* an$ t"rq%e estimati"n #"r impr"ve all system per#"rmance! ?est "perati"n ")taine$ +ith the +avelet t" minimize t"rq%e an$ hence spee$ err"r )et+een re#erence an$ act%al val%es! Gigh e##iciency E l"+ l"sses )eca%se the I3?Ts %se$ as s+itches +"rks +hen it is nee$e$ t" keep t"rq%e an$ #l%* +ithin all"+e$ t"lerant )an$s "# hysteresis c"ntr"llers! References 1! ?h""pen$ra, ,!. ,hailen$ra, 7!. ,an6eet, D! Direct T"rq%e '"ntr"l In$%cti"n M"t"r Drive +ith Impr"ve$ /l%* >esp"nse! $dvan%es in &o er Ele%troni%s %4#%, 2'12, 1-11! 2! ?%6a,3!,!. Mazmierk"+ski, M!C! Direct t"rq%e c"ntr"l "# C0M inverter-#e$ :' m"t"rs a s%rvey! (EEE Transa%tions on (ndustrial Ele%troni%s %44,,)1*+,#;55-;8;! 4! Depen)r"ck, Man#re$! Direct ,el#-'"ntr"l "# the /l%* an$ >"tary M"ment "# a >"tary-/iel$ Machine! -nited .tates &atent +/012+1,#031! 5! Depen)r"ck, Man#re$! Meth"$ an$ Device #"r '"ntr"lling "# a >"tating /iel$ Machine! E&2 &atent E&'1034)/, #032 ! 8! -"g%chi, T"shihik". Takahashi, Isa"! O%ick T"rq%e >esp"nse '"ntr"l "# an In$%cti"n M"t"r ?ase$ "n a -e+ '"ncept! (nternational Ele%tri%al Engineering 5ournal,#03,,<5&;9(:91P;0! 9! Takahashi, Isa". -"g%chi, T"shihik"! : -e+ O%ick->esp"nse an$ Gigh-E##iciency '"ntr"l ,trategy "# an In$%cti"n M"t"r. (EEE Trans. on (ndustr! $ppli%ations! %4#%,22 &8(: <20-<2;! ;! ,ira6 :hme$ T ,,! ,a" an$ M! ,! >! :n6aney%l%! DT' "# T+elve ,ect"r IM Drive Using /"%r Bevel Gysteresis '"ntr"l t" >e$%ce T"rq%e >ipple '"mparing +ith '"nventi"nal '"ntr"l! (nternational 5ournal o6 Engineering Resear%7 and $ppli%ations!%4#+,4&1(:118-120! <! G%a Bi% . G"ng Qhang . :ili Oin! :nalytical investigati"n "# t"rq%e an$ #l%* ripple in in$%cti"n m"t"r c"ntr"l scheme %sing +avelet net+"rk. &ro%eeding . .&(E 0123,%4435 ;12=&5(:;12=12;12=12! =! ,heng +ei 3a",Ran 'ai! T"rq%e >ipple Minimizati"n ,trategy #"r Direct T"rq%e '"ntr"l "# In$%cti"n M"t"rs! T7ird (nternational Con6eren%e on (ntelligent 8et or9s and (ntelligent .!stems*(C(8(.,,%4#4:15<-181! 10! Q! Bi !an$ R! >%an! : -"vel '"ntr"l Meth"$ ?ase$ "n 0avelet -e%ral -et+"rks #"r Direct T"rq%e '"ntr"l in In$%cti"n M"t"r Drives, (nternational %on6eren%e on Ele%tri%al ma%7ines and s!stem, %440:4=9;-4=;2!

11! Mhala# ,all"%m 3!. Ge+ 0""i C!. R"%si# :lm%shha$any, In Modeling E /a%lt Diagn"sis "# IM )y Using Intelligent '"ntr"l, 1ste$!. B:C Lam"ert $%ademi% &u"lis7ing $: ; Co <:# :erman!, %4#%:150-158! 12! B"t#i El MS)arki , M"ez :ya$i E >a#ik -e6i! : -e+ Direct T"rq%e '"ntr"l #"r Minimizing the T"rq%e >ipple "# In$%cti"n M"t"r! (nternational 5ournal o6 Resear%7 and Revie s in $pplied .%ien%es,%4##, < &2(:20;-21;! 14! :n$ers Mr"n)erg! Design an$ ,im%lati"n "# /iel$ Triente$ '"ntr"l an$ Direct T"rq%e '"ntr"l #"r a Cermanent Magnet ,ynchr"n"%s M"t"r +ith C"sitive ,aliency! Msc thesis s%)mitte$ t" Uppsala University, Electrical Department,,+e$en,%4#%! 15! >!T"%#"%ti, ,!Meziane, G! ?enalla! Direct T"rq%e '"ntr"l #"r in$%cti"n m"t"r %sing intelligent techniq%es! T7eoreti%al and $pplied (n6ormation Te%7nolog!, %441,4&4(:48-55$ 18! 3arcia, U!T!. Qigm%n$, ?!. Terlizzi, :!. Cavlanin, >!. ,alvat"re, B! '"mparis"n ?et+een /T' an$ DT' strategies #"r Cermanent Magnet,2009, $dvan%es in Ele%tri%al and Ele%troni% Engineering %4425) *1=2,>;9 P <1! 19! Merz"%g, M! ,!. -aceri, /! &,ep 200<(! '"mparis"n "# /iel$ Triente$ '"ntr"l an$ Direct T"rq%e '"ntr"l #"r CM,M! 0"rl$ $%adem! o6 .%ien%e# Engineering and Te%7nolog!%443,21,20=P405! 1;! Mazmierk"+ski, M! C!. /ranq%el", B!. >"$rig%etz, 7!. Cerez, M!. Be"n, 7! Gigh Cer#"rmance M"t"r Drives! (EEE (ndustrial Ele%troni%s Maga?ine, %4##, ) *4,:9P29!! 1<! ?h""pen$ra ,!. ,hailen$ra 7!. ,an6eeet D!. E*perimental Investigati"n "n /l%* Estimati"n an$ '"ntr"l in : Direct T"rq%e '"ntr"l Drive ,(nternational 5ournal o6 $dvan%es in Engineering ; Te%7nolog!, %4#%, +*1,:8=2-8==! 1=! Mhala# ,all"%m 3!.Ge+ 0""i C! /a%lt T"lerant '"ntr"l "# In$%cti"n M"t"r! Modern $pplied .%ien%e.%4##.)*+,:<4-=5. 20! :))"%, :!. Mahm"%$i, G! >eal time implementati"n "# a sens"rless spee$ c"ntr"l "# in$%cti"n m"t"r %sing DT/' strategy! (EEE, (nternational Con6eren%e on Multimedia Computing and .!stems# (CMC. 5%440:42;- 444! 21! Takahashi I, -ag%chi T! : ne+ q%ick-resp"nse an$ high-e##iciency c"ntr"l strategy "# an in$%cti"n m"t"r, &ro%. o6 t7e (EEE Transa%tions on (ndustr! $ppli%ation##0325 22& 8(:<20-<2; ! 22! Gassan /arhan >ashag , ,! C! M"h , :hme$ -! :)$alla , -a$ia M! B!Tan , M! G! 'h"ng! M"$i#ie$ Direct T"rq%e '"ntr"l Using :lg"rithm '"ntr"l "# ,tat"r /l%* Estimati"n an$ ,pace @ect"r M"$%lati"n ?ase$ "n /%zzy B"gic '"ntr"ller #"r Gigh Cer#"rmance "# In$%cti"n M"t"rs! 5ournal o6 &o er Ele%troni%s,%4#+,14&1(:1-12! 24! Mhala# ,all"%m 3aei$, Ge+ 0""i Cing,M%sta#a Mhali$ Mas""$ , B"ran$ ,za)"! ,%rvey "# 0avelet /a%lt Diagn"sis an$ T"lerant "# In$%cti"n Machines +ith 'ase ,t%$y! (nternational Revie o6 Ele%tri%al Engineering#%4#%,;&4(:554;-558=! 25! ,tephane Mallat! : 0avelet T"%r "# ,ignal Cr"cessing, 4r$ e$iti"n! :ca$emic Cress, 200<!