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Abstract— In this paper, direct torque control (DTC) of or placing a capacitor in series with the auxiliary winding is
symmetrical two-phase induction and synchronous motors required for high-speed (e.g. rated speed) applications [3].
using different structures of two-phase inverters including two- It’s possible to overcome the stated problems by utilizing
, three- and four-leg inverters is studied. Essential equations three-leg inverter and using both motor windings. Difficulty
for controlling both electromagnetic torque and the stator flux of this method is that the auxiliary winding voltage should be
modulus are presented and switching tables are derived. higher than that of the main winding so using boost
Different inverter topologies are compared in terms of the converters or placing a capacitor in series with the auxiliary
control system operation in high speed applications and winding is required for high-speed (e.g. rated speed)
maximum speed of the rotating field deliverable by the drive applications [3]. Because of the cost attributed to these
system. Performance of DTC of two- phase induction and approaches, speed control of symmetrical two-phase
synchronous motors fed by different inverter topologies are induction motors is preferred. Another alternative is
evaluated and correctness of presented theories is validated by
utilization of two-phase synchronous drives which
experimental results.
introduces higher torque density and thus more compact size.
Keywords— two-phase induction motor, two-phase Common structures of two phase inverters shown in Fig.
synchronous motor, two-, three- and four-leg inverters, direct 1 have been studied in [4]-[9]. The operation of two-leg
torque control inverter shown in Fig.1.a is weak, but because of possessing
I. INTRODUCTION minimum number of switches, it is a low-cost approach. In
the applications in which the middle-point of DC voltage is
Because of some features such as low cost and simple accessible, using two-leg inverter is an acceptable approach.
and robust structure, single phase induction motors are When middle-point of DC voltage is inaccessible, utilizing
widely used in household products and low-power industrial this scheme needs not only two capacitors with high
equipments. Single phase induction motor is an capacitances but also a voltage equalizing circuit. Voltage
asymmetrical two-phase induction motor including the main equalization can be done by using resistors in parallel to
and the auxiliary windings. Three common types of single- capacitors. This increases volume of the drive system and
phase induction motors are split-phase, capacitor-start and power loss [10].
capacitor-run motors [1]. Single phase motors work well in
constant-speed applications, but show difficulties when Another approach is utilization of charge balancing
variable-speed performance is needed. In both-split-phase circuits [11] which makes the drive circuit complicated and
and capacitor-start single phase motors, operation in wide costly. A noticeable limitation of three-leg inverters in
speed range is practically inaccessible because in low speed controlling two-phase motors is that the RMS value of
operation, the centrifugal switch doesn’t disconnect the common leg current is higher than those of other two legs
auxiliary winding. This causes damages to the motor [5], [10] that necessitates utilization of switches with higher
structure since the auxiliary winding is not designed for current ratings at least in one leg. When integrated power
continuous operation. In capacitor-run motors, the modules (IPMs) are used, the entire module should be of
appropriate capacitance depends on the conditions of power higher current ratings. This makes the cost enhancement
supply and mechanical load. So, in variable speed more noticeable. This additional cost as well as better
application, torque ripple and over temperature are performance of four-leg inverter makes the use of four-leg
problematic [2], [3]. inverter justifiable in high performance applications [12].
It’s possible to overcome the stated problems by utilizing When good performance of motor drive is expected,
three-leg inverter and using both motor windings. Difficulty utilizing high performance control methods is inevitable.
of this method is that the auxiliary winding voltage should be Vector control of symmetrical two-phase induction motor is
higher than that of main winding, so using boost converters proposed in [13] as a solution for low-power level field; but
suggested scheme needs utilization of mechanical sensors
which makes the drive system costly. On the contrary, good
Saleh Ziaeinejad, Younes Sangsefidi, Hamidreza Peiro-Din-Nabi, and Abbas
Shoulaie are with the Department of Electrical Engineering, Iran University performance of DTC method without using speed or position
of Science and Technology, Tehran 16846-13114, Iran (e-mail: sensors makes it a viable choice in both high performance
s_ziaeinejad@elec.iust.ac.ir). and low-cost applications [14].
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= λ +λ (3)
=P λ i −λ i =P × =
(c)
P sin (θ − θ ) (4)
Figure 1. Different inverter topologies used in two-phase motor drives (a)
two-leg inverter (b) three-leg inverter (c) four-leg inverter where r is resistance of the stator winding; ,
respectively are the stator flux vector and the rotor flux
vector; , , i , i , λ and λ respectively are
stator voltage components, stator current components and
stator flux components in Q and D axes. Also, L , L , L
and P respectively are stator inductance, rotor inductance
referred to stator side, magnetizing inductance and number
of motor pole pairs. In addition, θ , θ and δ are stator flux
angle, rotor flux angle and load angle, respectively and
Direct torque control of two-phase induction motors A similar analysis is performed to study the DTC method
using two- and three-leg inverters has been studied in the of synchronous motor. Regarding [19] and [20], using
literature [15], [16].In both inverter topologies, in some voltage-current equations of the motor, stator flux
regions of stator flux, the torque control fails. In high speeds, components in stationary reference frame and
the trouble gets worse. Changing the switching table for electromagnetic torque of two-phase synchronous motor can
improving the torque control is proposed in [15], [16]. Using be calculated as:
this approach not only makes the control system λ =∫ −r i dt + λ | (6)
complicated, but also discards flux control in some areas of
stator flux. In high speed operation, utilizing modified λ = ∫( − r i )dt + λ | (7)
switching table leads to losing flux control in a wide area and
inefficient operation of control system [16]. | |= + (8)
In this paper, because of prominent features of two-phase
| |
motors in variable speed applications, utilizing these motors =P λ i −λ i = 2λ L sin(θ − θ ) −
is suggested instead of single phase induction motors. Main
application of two-phase motor drives would be in low- |λ | L − L sin(2(θ − θ )) (9)
power industrial applications as well as in household where is rotor linkage flux and and are d-axis
products such as refrigerators, vacuum cleaners, fans, air and q-axis inductances, respectively. Initial values of D- and
conditioners, water pumps etc. Direct torque control as a low Q- axis stator flux components are:
cost, high reliable and high performance control method for
two-phase induction and synchronous motors is proposed λ | = sin (10)
and switching tables for two-, three- and four- leg inverter
topologies are presented. Different inverter topologies are λ | = cos (11)
compared in terms of drive system ability to control where is initial angle between rotor flux vector and D
electromagnetic torque and maximum speed of rotating field axis. Block diagram of direct torque control of two-phase
provided by the drive system. Performance of DTC of two- induction and synchronous motor is shown in Fig.3 in which
phase induction and synchronous motors fed by different at each sampling period, the stator flux modulus and
inverter topologies are evaluated and correctness of electromagnetic torque are found and a voltage vector which
presented formulas is validated by experimental results. reduces the errors of these parameters is chosen. Electrical
time constant of the rotor of induction motors is large [18]
II. DIRECT TORQUE CONTROL OF TWO-PHASE INDUCTION and so the rotor flux doesn’t considerably change in a short
AND SYNCHRONOUS MOTORS interval. Thus, a quick torque response can be achieved by
A. Basic Principles rotating the voltage vector in a way that θ would increase
rapidly. Like induction motor, step change in
For analyzing DTC method, first, equations of two-phase
electromagnetic torque of synchronous motor can be resulted
induction motor are studied. It’s assumed that air gap length
by accelerating stator flux vector leading to change the angle
is constant and magnetic circuit is linear. Fig.2 shows the
between stator and rotor linkage flux vectors [20].
stator and rotor linkage flux vectors in rotor flux (dq), stator
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= cos | |
− | | | |
+2 (14)
where
ε= (15)
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TABLE IV. TANGENTIAL COMPONENTS OF VOLTAGE VECTORS Where is tangential component of and ( ) is the
GENERATED BY TWO-LEG INVERTER probability of applying voltage vector . Probability of
Tangential component V V applying each voltage vector is proportional to the maximum
time interval in which applying that vector maintains the
Tangential component √2 π √2 π modulus of stator flux in allowed range. Since the amplitude
V cos (θ + ) cos (θ − )
2 4 2 4 of four voltage vectors generated by two-leg inverter are all
Tangential component V V
the same, the time interval in which a certain voltage vector
is applied is proportional to the length of the path of stator
Tangential component √2 3π √2 5π flux while the modulus of stator flux is in allowed range.
V cos (θ − ) cos (θ − )
2 4 2 4
First, it’s supposed that the angle between the stator flux
vector and D-axis is and the modulus of stator flux has
In sectors 1 and 4, when the stator flux vector is near the reached to its minimum allowed value. As shown in Fig. 6,
border of the sector, the component of voltage vector tangent for increasing both torque and flux, is selected. In Fig. 7,
to circular route of the stator flux becomes so small that is | |∗ is desired modulus of the stator flux and x is the length
not able to reduce torque error and so electromagnetic of flux-developing vector. In “OAB” triangle, equation (17)
control method is unable to keep the electromagnetic torque is established:
error in allowed band. However, because of possessing
∗ ∗
larger voltage vectors, the ability of three-leg inverter to + −
−2 − ×
control electromagnetic torque is more than that of two-leg 3 ∗
cos 4+ = | | + (17)
inverter and its uncontrollable torque region is smaller [16].
where is the width of hysteresis flux controller.
D. DTC method utilizing four-leg inverter
Assuming = | |∗ and = | |∗ gives
Like three-leg inverters, four-leg inverters also do not
need access to middle-point of DC link voltage. For
controlling both flux and electromagnetic torque, eight = 4 + (1 + ) sin 4+ −
distinct sectors can be specified for the stator flux. The way
of doing this and available voltage vectors are shown in Fig. (1 + ) sin
4+ (18)
6. Table III presents appropriate switching table for DTC “k” has a small value; so regarding Maclaurin
method. Four-leg inverter is able to control electromagnetic
torque in a wide range of speed and does not have series √ + + 1 → ≅ 1 + , (18) results:
uncontrollable torque region which is problematic in DTC
using aforementioned inverters. As there’s always a vector = (19)
suitable for controlling both flux and torque, these two
parameters can be properly controlled by four-leg inverter. where is normalized length of flux-developing vector.
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= ∫ ≅ 0.56 | (24)
( ) | |∗ |∗
π
ω = ∫π ( ) + ( ) dθ ≅ 1.122 (27)
π | |∗ | |∗
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TABLE VII. TANGENTIAL COMPONENT OF VOLTAGE VECTORS TABLE X. SYNCHRONOUS MOTOR PARAMETERS
GENERATED BY FOUR -LEG INVERTER
Stator resistance 4.5 Ω
Tangential Tangential Component Tangential Tangential Component
component component
d- axis inductance 323 mH
V V
q- axis inductance 110 mH
π 3π
v √2cos (θ + ) v √2cos (θ − ) Number of poles 4
4 4
Rotor flux 1
v cos (θ) v cos (θ − π)
π 5π
v √2cos (θ − ) v √2cos (θ − )
4 4
π 6π
v cos (θ − ) v cos (θ − )
2 4
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(a)
(a)
(b)
(b)
(c)
(c)
(d)
(d) Figure 13. DTC of induction motor using four-leg inverter (a)
electromagnetic torque (b) rotating field speed (c) D- and Q- axes
Figure 12. DTC of induction motor using three-leg inverter (a) components of the stator flux (d) stator flux trajectory
electromagnetic torque (b) rotating field speed (c) D- and Q- axes
components of the stator flux (d) stator flux trajectory
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(a) (a)
(b) (b)
(c) (c)
(d)
(d)
Figure 14. DTC of synchronous motor using two-leg inverter (a) Figure 16. DTC of synchronous motor using four-leg inverter (a)
electromagnetic torque (b) rotating field speed (c) D- and Q- axes electromagnetic torque (b) rotating field speed (c) D- and Q- axes
components of the stator flux (d) stator flux trajectory components of the stator flux (d) stator flux trajectory
(b)
Figure 17. speed of rotating field of no-load two-phase induction motor
controlled by DTC method using different inverter topologies
(d)
Figure 15. DTC of synchronous motor using three-leg inverter (a)
electromagnetic torque (b) rotating field speed (c) D- and Q- axes Figure 18. speed of rotating field of no-load two-phase synchronous
components of the stator flux (d) stator flux trajectory motor controlled by DTC method using different inverter topologies
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