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safety, dynamic response and eco-friendly behavior are vital reference, ω s , ω m are synchronous and mechanical angular
speed, L is magnetizing inductance and dq dq are stator and
goals in contemporary car design. HEVs are new generation m is , ir
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International Conference on Electrical and Electronics Engineering (ICEEE'2012) June 16-17, 2012, Bangkok
The FOC thus solves some basic problems include attainment flux and electromagnetic torque estimator and the switching
constant reference, applying torque control in the dq reference vector look-up table.
frame.
According to equation 4 maintaining the amplitude of the
rotor current at a fixed level leads to a linear relationship
between torque and isq , therefore torque can be controlled
by controlling the torque component of stator current. The
simulations of the FOC drive were realized using
MATLAB®/Simulink® simulation package. FOC control
system structure depicted on Figure 1.
Fig. 2. DTC control system
Control Law
Comparison
criterion
DTC FOC
Dynamic
GOOD GOOD
response
Torque ripple HIGH LOW
Average torque
NO YES
controller
Current
maintained
NO YES
within motor
Fig. 1. FOC control system
rating
Complexity of
Current regulator is a PWM technique, very modest to LOW MEDIUM
architecture
implement and supervising directly for the current control. Fixed switching
NO YES
The switching logic is implemented by three hysteresis frequency
Parameter
controllers. The hysteresis PWM current control is done in the sensitivity
LOW MEDIUM
three phases separately. Each controller determines the
switching-state of one inverter in such a method that the D. Vehicle Modeling
corresponding current is maintained within a hysteresis band
Δi [5]. Some literatures compared FOC and DTC method from
electrical motor performance view, but main focus of this
C. Direct Torque Control article is modeling of electrical drive assessment. Accordingly,
Direct Torque Control (DTC) has been developed by in the modeling of HEV modeling of vehicle dynamic behavior
German and Japanese scientist for use in torque control of is based on two criteria keeping accuracy and simplicity.
power servo drives. The DTC theory history actually goes back Subsystem models all the mechanical parts of the vehicle:
to 1971. Recently, DTC method has provided a substitute to • The single reduction gear reduces the motor's speed
the field oriented control strategy. DTC is a control philosophy and increases the torque.
using the torque and flux producing capabilities of induction • The differential splits the input torque in two equal
machines when fed by a simple voltage source inverter that torque for wheels.
does not require current regulation loops, still achieving similar • The tires dynamics represent the force applied to the
performance to that attained from a vector control drive. ground.
Three control techniques used for realizing DTC drives:
• The vehicle dynamics represent the motion influence
• Switching Table (ST)
on the overall system.
• Direct Self Control (DSC) • The viscous friction models all the losses of the
mechanical system.
Direct Vector Modulation Control (DVMC) ST and DSC
regulators are of the hysteresis type, whereas the DVMC uses Figure 3 illustrates vehicle model block diagram.
digitally implemented analog controllers [6]. The simulations
of the DTC drive were carried out using MATLAB®/Simulink®
simulation package. The DTC scheme for induction motor
drives is shown in Figure 2. The main blocks are the stator
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International Conference on Electrical and Electronics Engineering (ICEEE'2012) June 16-17, 2012, Bangkok
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International Conference on Electrical and Electronics Engineering (ICEEE'2012) June 16-17, 2012, Bangkok
REFERENCES
[1] J. M. Miller, A. R. Gale, “Hybird-electric vehicle success will depend
on Iow cost efficient power electronics systems,” Power Conversion &
Intelligent Motion (PCIIU), Nov. 1997, pp. 22-38..
[2] I. Takahashi and N. Noguchi,”A new quick response and high efficiency
control strategy of an induction motor,” IEEE Trans. on Indusuy
Fig. 9. DTC drive torque response for brake Applications, Vol.22,no.5, Sept./Oct. 1986, pp.820-827
For evaluation of vehicle’s reaction on braking sequence a [3] M. Depenbrok, ” Direct Self-Control(DSC) of inverter-fed induction
machine”, IEEE Trans. on Power Electronics, vol.PE-3, no.4, Oct.1998,
negative torque produced by induction motor applied to pp.420-429].
vehicle’s model previously introduced. Vehicle’s speed [4] F.Blaschke, ”The principle of field orientation as applied to the new
change in result of breaking torque is approximately same as transvector closed loop control of rotating machines”, Siemens Review,
Figure 10. Because of more clarity, the difference between VOL. 30, no.5, 1972, pp.27-22
two method speed changes shown in Figure 11. [5] F. Labrique, H. buyse, G. seguier and R. Bausière, “Converters power
electronics command and dynamic behavior “, vol. 5, 1998, pp. 68-73.
[6] G. Buja, D. Casadei, G. Serra “ Direct stator flux and torque control of
an induction motor: theoretical analysis and experimental results”, Proc.
of IEEE-IECON’98, Aachen, Germany, August 31-Sept. 4, 1998, vol.
1,pp. T50-T64
[7] M. Cruz, A. Gallegos, R. Alvarez, and F. Pazos, “Comparison of several
nonlinear controllers for induction motors,” in IEEE International Power
Electronics Conference, 2004, pp. 134-139.