DIRECT TORQUE CONTROL OF THREE PHASE

INDUCTION MOTOR

Project Report submitted to

G. B. Pant Engineering College, Pauri
for the award of the degree

of

Bachelor of Technology

in

Electrical Engineering

By

AJAY NAITHANI (99090105060)

Department Of Electrical Engineering

G. B. Pant Engineering College

Pauri, India.

JUNE 2012
 DEPARTMENT OF ELECTRICAL ENGINEERING

G. B. Pant Engineering College

Pauri-246194, India

Certificate

This is to certify that project report entitled, “Direct Torque Control Of Three
Phase Induction Motor” submitted by “Ajay Naithani” to G. B. Pant
Engineering College, Pauri, India, is a record of bonafide work carried out by
them under my supervision and guidance and is worthy of consideration for the
award of the degree of Bachelor of Technology in Electrical Engineering.

Mr. Bhola Jha

Assistant Professor

Department Of Electrical Engineering

G. B. Pant Engineering College

Date: Pauri, India.
 Acknowledgement

I would like to take this opportunity to thank various people who have

provided much assistance and invaluable information to make this project a success. Firstly i

would like to express my sincere gratitude and appreciation to our supervisor, Assistant

Professor Mr Bhola Jha for his valuable guidance and generous encouragement throughout

the project duration.

I am also indebted to Assistant Professor Mr. V. Karthik for his valuable

support for the discussions and technical help during completion of this project . I also wish

to express my gratitude to my co-supervisor , Assistant Professor Mr. S. S. Rawat for his

support.

And not forgetting those whom have either directly or indirectly helped me

in this project.

Last but not least, I own many thanks to my family and friends for their

loves, encouragement and moral support.

Date: Ajay Naithani (99090105060)

 Contents

Cover Page
Certificate
Acknowledgement
List of Figures i
List of Tables ii
List of Abbreviations iii
List of Symbols iv
Abstract vii

Chapter 1: Introduction

1.1 Induction Machine 1

1.2 Objective 2

1.3 Project Methodology 2

1.4 Literature Review 2

Summary 3

Chapter 2: Direct Torque Control Scheme

2.1 Principle Of Direct Torque Control 4

2.1.1 Flux Control 5

2.1.2 Torque Control 6

2.2 Advantages of Direct Torque Control 7

2.3 Dynamic Modelling Of Induction Machine 8

2.4 Three-Phase To Two-Phase Transformation 8

2.4.1 Park‟s Transformation 10

 2.4.2 Stanley‟s Transformation 11

2.5 Transformation To Obtain Constant Matrices 11

2.6 Reference Frame Theory 12

2.7 Voltage Source Inverter 17

Summary 19

Chapter 3: Simulink Model Of Direct Torque Control Scheme

3.1 Introduction 20

3.2 Stator Voltage Vector Selector Model 22

3.2.1 Hysteresis Comparator 23

3.2.2 Switching Table 24

3.2.3 Sector Selector 25

3.3 Voltage Source Inverter Model 27

3.3.1 Switching States Of Inverter 28

3.3.2 Flux Control 30

3.3.3 Torque Control 32

3.4 Induction Machine Model 34

3.5 Motor Speed Calculator Model 37

3.6 Block Diagram Of Direct Torque Control Scheme 37

Summary 39

Chapter 4: Results And Conclusions

4.1 Introduction 40
 4.2 Simulink Program For Input 40

4.3 Output Of Simulation Model 41

4.4 Conclusion 42

References 43
 List of Figures

Figure Page
Title
No. No.

2.1 Basic Block Of DTC 4

2.2 Voltage Space Vector and its components in (d, q) axis 9

2.3 Two and three-phase stator windings 10

2.4 Transformation of actual to fictitious rotor variables 12

2.5 Basic three phase VSI 18

3.1 Stator Voltage Vector Selector 22

3.2 Two Level Hysteresis 23

3.3 Three Level Hysteresis Comparator 24

3.4 Lookup Table Block 25

3.5 Sector Selector 25

3.6 Range of function atan2(u(2),u(1)) 26

3.7 Voltage Source Inverter 27

3.8 Inverter Output Voltages Corresponding To Switching States 29

3.9 Division Of Sextants For Stator Flux-Linkages Identification 30

3.10 Effect Of Switching VI And VVI On Stator-Flux Phasor 31

3.11 Induction Machine Simulink Model 35

3.12 Flux-Current Block 36

3.13 Simulink Model Of Motor Speed Calculator 37

3.14 Complete DTC Model 38

4.1 Torque Curve Of DTC 41

4.2 Speed Curve Of DTC 42

 List of Tables

Table Page
Title
No. No.

3.1 Parameter Values of IM used in Simulation 21

3.2 Inverter Switching States And Machine Voltages 28

3.3 Switching Logic For Flux 32

3.4 Switching Logic For Torque 32

3.5 Switching States For Possible Sλ, ST And Sθ 33

3.6 Flux-Phasor Sextant Logic (Sθ) 34

 List Of Abbreviations

DTC Direct Torque Control

FHP Fractional Horse Power

VSI Voltage Source Inverter

MMF Magneto Motive Force

IM Induction Machine

DSC Direct Self Control

FOC Field Oriented Control

VSV Voltage Selector Vector

 List Of Symbols

Vs Stator Voltage

Rs Stator Resistance

is Stator Current

ψs, λs, fs Stator Flux

ωsl Stator Slip Frequency w.r.t Rotor Mechanical Frequency

Vd d-axis Voltage

Vq q-axis Voltage

Van, Vbn, Vcn Line To Neutral Voltages

θc Angle Between q-axis And a-axis

iqs, iqr q-axis Stator And Rotor Currents

ids, idr d-axis Stator And Rotor Currents

i0 Zero Sequence Current

ias, ibs, ics a, b, And c Phase Current

idrr, iqrr Fictitious Rotor Current

iα, iβ q&d axis Rotor Current In Arbitrary Reference Frame

θr Angle Between Stator And Rotor Phase

ωc Speed Of The Reference Frame

Vqs, Vqr q-axis Stator And Rotor Voltages

Vds, Vdr d-axis Stator And Rotor Voltages

Vα, Vβ q&d axis Rotor Voltage In Arbitrary Reference Frame

Ls Stator Inductance

Lm Mutual Inductance Between Rotor And Stator

Lr Rotor inductance

ωr Rotor Speed
𝑉 𝑟 𝑑𝑠 , 𝑉 𝑟 𝑞𝑠 q&d axis Stator Voltage In Rotor Reference Frame Model

𝑖 𝑟 𝑑𝑠 , 𝑖 𝑟 𝑞𝑠 q&d axis Stator Current In Rotor Reference Frame Model

𝑉 𝑟 𝑑𝑟 , 𝑉 𝑟 𝑞𝑟 q&d axis Rotor Voltage In Rotor Reference Frame Model

𝑖 𝑟 𝑑𝑟 , 𝑖 𝑟 𝑞𝑟 q&d axis Rotor Current In Rotor Reference Frame Model

ωs Synchronous Speed

𝑉 𝑒 𝑑𝑠 , 𝑉 𝑒 𝑞𝑠 q&d axis Stator Voltage In Synchronous Reference Frame

Model

𝑉 𝑒 𝑑𝑟 , 𝑉 𝑒 𝑞𝑟 q&d axis Rotor Voltage In Synchronous Reference Frame

Model

𝑖 𝑒 𝑑𝑠 , 𝑖 𝑒 𝑞𝑠 q&d axis Stator Current In Synchronous Reference Frame

Model

𝑖 𝑒 𝑑𝑟 , 𝑖 𝑒 𝑞𝑟 q&d axis Rotor Current In Synchronous Reference Frame

Model

Sa, Sb , Sc Inverter Switches

Vs Primary Voltage Vector

Vdc Direct Current Voltage

Lsl Stator Leakage Inductance

Lrl Rotor Leakage Inductance

J Inertia

Bm Flux Density

Vab, Vbc,Vca Phase Voltages

Va, Vb, Vc Line Voltages

λds, λqs q&d axis Stator Flux

P No. Of Poles Of Induction Machine

p Differential Operator

Te Electro Magnetic Torque

Ti Reference Torque

λer Error in flux

Sλ Flux Error Output

ST Torque Error Output

Sθ Sextant Of The Flux Phasor

δ Te Torque Window Acceptable Over Commanded Torque

 Abstract

Induction Motors (IM) has always been preferred for its reliability, ruggedness

and easier in maintenance. The IM drives controlled with the vector control method has

found wide acceptance in the industry. However, this control technique requires complex

coordinate transformation, inner current control loop and accurate system parameters.

Direct Torque Control (DTC) uses an induction motor model to predict the

voltage required to achieve a desired output torque. By using only current and voltage

measurements, it is possible to estimate the instantaneous stator flux and output torque. An

induction motor model is then used to predict the voltage required to drive the flux and torque

to the demanded values within a fixed time period.

The DTC method provides robust and fast torque response without such

coordinate transformations, PWM pulse generation and current regulators. Moreover, DTC

minimizes the use of motor parameters. However, the presence of hysteresis controllers for

flux and torque could determine torque and current ripple and variable switching frequency

operation for the voltage source inverter.

This thesis proves that DTC technique is easier to implement and keeps the

variables within the range. This thesis presents a study of DTC technique for voltage source

inverter fed induction motor drives using MATLAB. The Simulink model and results that

validates the DTC principle has been presented.

 Chapter 1
Introduction

1.1 Induction Machine

Among all types of AC machines , the induction machine (I M) particularly

the cage type is most commonly used in industry. These machines are very economical,

rugged and reliable and are available in the range of fractional horse power (FHP) to multi-

megawatt capacity . Low-power FHP machines are available in single-phase, but poly-phase

(three-phase) machines are used most often in variable speed drive.

Induction motor have two kinds of rotor : (1) Cage Rotor, (2) Wound rotor or

slip ring rotor. Cage rotor have several advantages over wound rotor. Some of them are:

 Robust construction and cheaper.

 The absence of brushes reduces the risk of sparking

 Lesser maintenance.

 Higher efficiency and higher power factor.

Torque production is uniform in cage rotor. But in cage rotor torque control

is typical because in this we can‟t add external resistors like in case of wound rotor for

controlling torque and speed. There are various schemes for controlling torque of cage

rotor among them direct torque control (DTC) is most popular.

1.2 Objectives

The objectives of the project is:

 To prepare a simulation model of a induction motor.

 To simulate the Direct Torque Control (DTC) of Induction Motor (IM).

1.3 Project Methodology

 Studied the DTC scheme.

 Studied the theoretical basis of the direct torque control (DTC) for Induction

Motors.

 Simulation of DTC of IM is performed using Simulink.

 Analyzed the simulation results.

1.4 Literature Review

The original concept of DTC was proposed by Takahashi and Noguchi in 1986 for

application in Induction Motors. Their idea was to control the stator flux linkage and the

torque directly , not via controlling the stator current. This was accomplished by controlling

the power switches directly using the outputs of hysteresis comparators for the torque and the

modulus of the stator flux linkage and selecting an appropriate voltage vector from a

predefined switching table. The table was called the „optimum switching table”. The

measurement of the rotor angle was not used.

 A same kind of control was proposed by Depenbrock (1987). At first, Takahashi and

Noguchi did not give any name to their new control principle. In a later paper by Takahasi

and Ohmori (1987) the control system was named the direct torque control, DTC.

Depenbrock called his control method Direct Self Control, DSC. Tiitenen et al discussed the

first industrial application of the DTC. After that , the number of papers on the DTC has

grown tremendously on different aspects of the DTC for asynchronous motors. In recent

years there has been interest to apply the DTC to permanent magnet synchronous motors.

L.Zhong et al discussed the implementation of DTC in PMSM Drives. In 1998,

Rahman et al proposed a DTC scheme for a wide speed range operation of an interior PMSM

drive. The proposed scheme possess some attractive features compared to the conventional

current-controlled drives like field oriented control (FOC). Later on, Tang et al proposed a

DTC control schemes for the IPM featuring almost fixed switching frequency.

In 2002, Rahman et al, proposed a completely sensorless DTC control for an IPM

drive, which uses a new speed estimator from the stator flux linkage vector and the torque

angle. To reduce the torque ripples, Sun et al proposed a fuzzy logic algorithm to refine the

selection of the voltage vectors. Today, the DTC has become an accepted control method

beside the field oriented control.

Summary

In this chapter the induction machine basics is discussed. The objectives of the project

work is shown with the project methodology given. The literary review is given which

discusses the evolution and history of the direct torque control scheme.
 Chapter 2

Direct Torque Control Scheme

2.1 Principle Of Direct Torque Control

Direct torque control (DTC) is one method used in variable frequency drives to

control the torque (and thus finally the speed) of three-phase AC electric motors. This

involves calculating an estimate of the motor's magnetic flux and torque based on the

measured voltage and current of the motor.

Stator flux linkage is estimated by integrating the stator voltages. Torque is

estimated as a cross product of estimated stator flux linkage vector and measured motor

current vector. The estimated flux magnitude and torque are then compared with their

reference values. If either the estimated flux or torque deviates from the reference more than

allowed tolerance, the transistors of the variable frequency drive are turned off and on in such

a way that the flux and torque will return in their tolerance bands as fast as possible. Thus

direct torque control is one form of the hysteresis control.

Fig.2.1 Basic Block Of DTC

 The measured input values to the DTC control are motor current and voltage.

The voltage is defined from the DC-bus voltage and inverter switch positions. The voltage

and current signals are inputs to an accurate motor model which produces an exact actual

value of stator flux and torque every 25 microseconds.

Motor torque and flux two-level comparators compare the actual values to the

reference values produced by torque and flux reference controllers. The outputs from these

two-level controllers are updated every 25 microseconds and they indicate whether the torque

or flux has to be varied. Depending on the outputs from the two-level controllers, the

switching logic directly determines the optimum inverter switch positions.

Therefore every single voltage pulse is determined separately at "atomic level".

The inverter switch positions again determine the motor voltage and current, which in turn

influence the motor torque and flux and the control loop is closed.

2.1.1 Flux Control

The IM stator voltage equation is given by:

𝑑𝛹𝑠
𝑉 s = Rs 𝑖 s + -----(1)
𝑑𝑡

Where 𝑉 s, 𝑖s , and 𝛹 s are the stator voltage, current and stator flux space vectors

respectively.

According to equation (1), if the stator resistance is small and can be neglected, the

change in stator flux, 𝛥𝛹 s , will follow the stator voltage, i.e.,

𝛥𝛹 s = 𝑉 s 𝛥𝑡 -----(2)
 This simply means that the tip of the stator flux will follow that of the stator

voltage space vector multiplied by the small change in time. Hence if the stator flux space

vector (magnitude and angle) is known, its locus can be controlled by selecting appropriate

stator voltage vectors. In DTC the stator flux space vector is obtained by calculation utilizing

the motor terminal variables (stator voltages and currents). The stator flux is forced to follow

the reference value within a hysteresis band by selecting the appropriate stator voltage vector

using the hysteresis comparator and selection table.

2.1.2 Torque Control

Under a condition of a constant mechanical frequency and stator flux

magnitude, when a step increase in the stator angular frequency is applied at t=0, the rate of

change of torque at time t=0 is proportional to the slip frequency of the stator flux with

respect to the rotor mechanical speed. Thus,

𝑑𝑇
t=0 α 𝜔𝑠𝑙 t=0 -----(3)
𝑑𝑡

where 𝜔𝑠𝑙 is the angular slip frequency of the stator flux with respect to the rotor mechanical

frequency.

This means that the rate of change of torque can be made positive or negative

regardless of whether the stator flux is increasing or decreasing. If the torque and stator flux

is kept within their hysteresis bands by selecting appropriate voltage vectors, an independent

control over the torque and stator flux is accomplished.

2.2 Advantages of Direct Torque Control

This control method have following advantages:

 Torque and flux can be changed very fast by changing the references

 High efficiency & low losses - switching losses are minimized because the transistors are

switched only when it is needed to keep torque and flux within their hysteresis bands

 No coordinate transforms are needed, all calculations are done in stationary coordinate

system

 No separate modulator is needed, the hysteresis control defines the switch control signals

directly

 There are no PI current controllers. Thus no tuning of the control is required

 Due to the hysteresis control the switching process is random by nature. Thus there are no

peaks in the current spectrum. This further means that the audible noise of the machine is

low

 Synchronization to rotating machine is straightforward due to the fast control; Just make

the torque reference zero and start the inverter. The flux will be identified by the first

current pulse

 The stator voltage measurements should have as low offset error as possible in order to

keep the flux estimation error down. For this reason the stator voltages are usually

estimated from the measured DC intermediate circuit voltage and the transistor control

signals
2.3 Dynamic Modeling Of Induction Machine

The dynamic model considers the instantaneous effects of varying

voltages/currents, stator frequency, and torque disturbance. The dynamic model of the

induction motor is derived by using a two-phase motor in direct and quadrature axes. This

approach is desirable because of the conceptual simplicity obtained with two sets of

windings, one on the stator and the other on the rotor.

The equivalence between the three-phase and two-phase machine models is

derived from simple observation, and this approach is suitable for extending it to model an n-

phase machine by means of a two-phase machine. The concept of power invariance is

introduced: the power must be equal in the three-phase machine and its equivalent two-phase

model.

The required transformation in voltages, currents, or flux linkages is derived in a

generalized way. The reference frames are chosen to be arbitrary, and particular cases, such

as stationary, rotor, and synchronous reference frames, are simple instances of the general

case.

2.4 Three-Phase To Two-Phase Transformation

The transformation matrix may, therefore, be defined as a matrix containing

the coefficients relating the old and new variables.

 Linear transformations in electrical machines are usually carried out for the

purpose of obtaining new equations which are fewer in number or are more easily solved. A

three-phase machine requires three voltage equations whereas its generalized model requires

only two voltage equations which can be solved more easily as compared to three voltage

equations. Further, the circuit equations for a three-phase machine are more complicated

because of the magnetic coupling amongst the three-phase windings, but this is not the case

in the generalized (or two-axis) model, in which m.m.f. acting along one axis has no mutual

coupling with the m.m.f. acting along the other axis.

Fig.2.2 Voltage Space Vector and its components in (d, q) axis

Vd  Van  Vbn  cos60  Vcn  cos60

1 1
 Van  Vbn  Vcn
2 2

Vq  0  Vbn  cos30  Vcn  cos30

3 3
 Van  Vbn  Vcn
2 2

 1 1  V
 an 
 1  
Vd  2 2 2  
     Vbn 
V
 q 3  3 3 
0 2  2  Vcn 
The transformation from three-phase to two-phase can be done in two ways:

 Park‟s transformation

 Stanley‟s transformation

2.4.1 Park’s Transformation

In Park‟s transformation q axis is assumed to be lagging the a axis by θ c.

The relationship between dq0 and abc currents as follows.

Fig .2.3 Two and three-phase stator windings

These are the equations which describes park‟s transformation:

2π 2π
Cosθc Cos(θc − ) Cos(θc + )
𝒊𝒒𝒔 3 3 𝒊𝒂𝒔
𝟐 2π 2π
𝒊𝒅𝒔 = Sinθc Sin(θc − ) Sin(θc + ) * 𝒊𝒃𝒔
𝟑 3 3
𝒊𝟎 𝟏 𝟏 𝟏 𝒊𝒄𝒔
𝟐 𝟐 𝟐

The current i0 represents the imbalances in the a, b and c phase current and

can be recognized as the zero-sequence component of the current.

2.4.2 Stanley’s Transformation

It is usual to align the q axis with the phase a winding, this implies that

the qd frames are fixed to the stator. The model is known as Stanley,s model or the stator

reference from model. In that case, θc = 0, and the transformation from abc to qdo variables

is given as:

−1 −1
1
𝒊𝒒𝒔 2 2 𝒊𝒂𝒔
𝟐 − 3 3
𝒊𝒅𝒔 = 0 * 𝒊𝒃𝒔
𝟑 2 2
𝒊𝟎 1 1 1 𝒊𝒄𝒔
2 2 2

In a balanced three-phase machine, the sum of three phase current is zero:

ias+ ibs + ics = 0

2.5 Transformation to Obtain Constant Matrices

The transformation to obtain constant inductances is achieved by replacing the

actual with a fictitious rotor on the q and d axes, as shown in Fig.2.4. In that process, the

fictitious rotor will have the same number of turns for each phase as the actual rotor phase

windings and should produce the same m.m.f. that leads to a cancellation of the number of

turns on both sides of that equation, resulting in a relationship of the actual currents to

fictitious rotor currents iqrr and idrr. Then the fictitious rotor currents iqrr and idrr are equal to

the sum of the projections of iα and iβ on the q and d axis, respectively, as given below:

𝑖𝑑𝑟𝑟 𝐶𝑜𝑠𝜃𝑟 𝑆𝑖𝑛𝜃𝑟 𝑖𝛼

𝑖𝑞𝑟𝑟 = 𝑖𝛽
𝑆𝑖𝑛𝜃𝑟 −𝐶𝑜𝑠𝜃𝑟
 Fig.2.4 Transformation of actual to
fictitious rotor variables

2.6 Reference Frame Theory

Three particular cases of the generalized model of the induction motor in arbitrary
reference frames are of general interest:

i. Stator reference frames model.

ii. Rotor reference frames model.
iii. Synchronously rotating reference frames model.

i. Stator Reference Frames Model

The speed of the reference frames is that of the stator which is zero, hence
ωc = 0
is substituted in below eqations:

Vqs = (RS +Lsp)iqs + Lmp(iαSinθr) – Lmp(iβCosθr) ---(1)

Vds = (RS +Lsp)ids + Lmp(iαCosθr) + Lmp(iβSinθr) ---(2)

Vα = Lmp (iqsSinθr ) + Lmp(idsCosθr) + (Rr + Lrp)iα ---(3)

Vβ = -Lmp (iqsCosθr ) + Lmp(idsSinθr) + (Rr + Lrp)iβ ---(4)

From eq. (1) :-

Vqs = (RS +Lsp)iqs + Lmp(iαSinθr) – Lmp(iβCosθr)

Vqs = (RS +Lsp)iqs + Lm(Sinθr)p(iα) + Lmiαp(Sinθr) – Lm (Cosθr)p(iβ) – Lmiβp(Cosθr)

Vqs = (RS +Lsp)iqs + Lm(Sinθr)p(Cosθr idr+ Sinθr iqr) – Lm (Cosθr)p(Sinθr idr - Cosθr iqr)

Vqs = (RS +Lsp)iqs + Lm(Sinθr Cosθr p(idr)+ Sin2θr p(iqr)) – Lm(Cosθr Sinθr p(idr) - Cos2θrp( iqr))

Vqs = (RS +Lsp)iqs + Lm(Sinθr Cosθr p(idr) + Sin2θr p(iqr) - Cosθr Sinθr p(idr) + Cos2θrp( iqr))

Vqs = (RS +Lsp)iqs + Lm(Sin2θr + Cos2θr) p(iqr)

Vqs = (RS +Lsp)iqs + Lmp(iqr) ---(A)

From eq. (2) :-

Vds = (RS +Lsp)ids + Lmp(iαCosθr) + Lmp(iβSinθr)

Vds = (RS +Lsp)ids + Lm(Cosθr)p(iα) + Lmiαp(Cosθr) + Lm (Sinθr)p(iβ) – Lmiβp(Sinθr)

Vds = (RS +Lsp)ids + Lm(Cosθr)p(Cosθr idr+ Sinθr iqr) + Lm (Sinθr)p(Sinθr idr - Cosθr iqr)

Vds = (RS +Lsp)ids + Lm(Sinθr Cosθr p(iqr)+ Cos2θr p(idr)) – Lm(-Cosθr Sinθr p(iqr) + Sin2θrp(

idr))

Vds = (RS +Lsp)ids + Lm(Sinθr Cosθr p(iqr) + Cos2θr p(idr) - Cosθr Sinθr p(iqr) + Sin2θrp( idr))

Vds = (RS +Lsp)ids + Lm(Sin2θr + Cos2θr) p(idr)

Vds = (RS +Lsp)ids + Lmp(idr) ---(B)

From solution of eq. (3) :-

Vα = Lmp (iqsSinθr ) + Lmp(idsCosθr) + (Rr + Lrp)iα

Vα = LmSinθrp(iqs) + LmCosθrp(ids) + Lmωr (iqsCosθr – idsSinθr) + (Rr + Lrlp) (Cosθr idr+ Sinθr

iqr) + Lrl(-idrSinθr(ωr) + iqrCosθr(ωr))

𝑉 𝐶𝑜𝑠𝜃 𝑆𝑖𝑛𝜃 𝑉𝑑𝑟

Then we have 𝑉𝛼 = 𝑆𝑖𝑛𝜃 𝑟 −𝐶𝑜𝑠𝜃𝑟 𝑉𝑞𝑟
𝛽 𝑟 𝑟

Cosθr Vdr+ Sinθr Vqr = LmSinθrp(iqs) + LmCosθrp(ids) + Lmωr (iqsCosθr – idsSinθr) + (Rr + Lrp)

(Cosθr idr+ Sinθr iqr) + Lrl(-idrSinθr(ωr) + iqrCosθr(ωr)) ---(5)

After solving eq.(4) we get:-

Sinθr Vdr - Cosθr Vqr = -Lm Cosθrp(iqs) + LmSinθrp(ids) + Lmωr (iqsSinθr + idsCosθr) + (Rr + Lrp)

(Sinθr idr - Cosθr iqr)+ Lrl(idrCosθr(ωr) + iqrSinθr(ωr)) ---(6)

Multiplying eq. (5) with Cosθr & eq. (6) with Sinθr & adding them we get:-

Vdr = Lmpids + Lm(ωr)iqs + (Rr + Lrp)idr + Lr(ωr)iqr ---(C)

Multiplying eq. (5) with Sinθr & eq. (6) with Cosθr & subtracting them we

get:-

Vqr = Lmpiqs – Lm(ωr)ids + (Rr + Lrp)iqr - Lr(ωr)idr ---(D)

Rewriting eq’s A, B, C & D :-

Vqs = (RS +Lsp)iqs + Lmp(iqr) ---(A)

Vds = (RS +Lsp)ids + Lmp(idr) ---(B)

Vdr = Lmpids + Lm(ωr)iqs + (Rr + Lrp)idr + Lr(ωr)iqr ---(C)

Vqr = Lmpiqs – Lm(ωr)ids + (Rr + Lrp)iqr - Lr(ωr)idr ---(D)

Converting above eq’s in matrix form we get:-

𝑽𝒒𝒔 𝑹𝒔 + 𝑳𝒔 𝒑 𝟎 𝑳𝒎 𝒑 𝟎 𝒊𝒒𝒔
𝑽𝒅𝒔 𝟎 𝑹𝒔 + 𝑳𝒔 𝒑 𝟎 𝑳𝒎 𝒑 𝒊
= * 𝒅𝒔 ---(7)
𝑽𝒒𝒓 𝑳𝒎 𝒑 −𝛚𝒓 𝑳𝒎 𝑹𝒓 + 𝑳𝒓 𝒑 −𝛚𝒓 𝑳𝒓 𝒊𝒒𝒓
𝑽𝒅𝒓 𝛚𝒓 𝑳𝒎 𝑳𝒎 𝒑 𝛚𝒓 𝑳𝒓 𝑹𝒓 + 𝑳𝒓 𝒑 𝒊𝒅𝒓

This model is used when stator variables are required to be actual, i.e., the

same as in the actual machine stator, and rotor variables can be fictitious. This model allows

elegant simulation of stator controlled induction-motor drives, such as phase-controlled and

inverter-controlled induction-motor drives, because the input variables are well defined and

could be used to find the stator q and d axes voltages through a set of simple algebraic

equations, for a balanced poly-phase supply input, given by:

vqs = vas

(𝑉𝑐𝑠 − 𝑉 𝑏𝑠 )
vds =
3

Such algebraic relationships reduce the number of computations and thus lend

themselves to real-time control applications in high-performance variable-speed drives

requiring the computation of stator currents, stator flux linkages and electromagnetic torque

for both control and parameter adaptation.

 ii. Rotor Reference Frames Model

The speed of the rotor reference frames is ωc = ωr

And the angular position is θc = θr

Substituting in the upper subscript r for rotor reference frames and equation (1,2,3 &

4) in the equation (7), the induction motor model in rotor reference frames is obtained. The

equations are given by:

𝑽𝒓 𝒒𝒔 𝑹𝒔 + 𝑳𝒔 𝒑 𝝎𝒓 𝑳𝒔 𝑳𝒎 𝒑 𝝎𝒓 𝑳𝒎 𝒊𝒓 𝒒𝒔
𝑽𝒓 𝒅𝒔 −𝝎𝒓 𝑳𝒔 𝑹𝒔 + 𝑳𝒔 𝒑 −𝝎𝒓 𝑳𝒎 𝑳𝒎 𝒑 𝒊𝒓 𝒅𝒔
= *
𝑽𝒓 𝒒𝒓 𝑳𝒎 𝒑 𝟎 𝑹𝒓 + 𝑳𝒓 𝒑 𝟎 𝒊𝒓 𝒒𝒓
𝑽𝒓 𝒅𝒓 𝟎 𝑳𝒎 𝒑 𝟎 𝑹𝒓 + 𝑳𝒓 𝒑 𝒊𝒓 𝒅𝒓

The rotor reference frames model is useful where the switching elements and

power are controlled on the rotor side. Slip power recovery scheme is one example where

this model will find use in the simulation of the motor-drive system.

iii. Synchronously Rotating Reference Frame Model

The speed of the reference frames is ωc = ωs = Stator supply angular frequency/rad/sec

and the instantaneous angular position is θc = θs = ωst

By substituting above into (1,2,3 & 4), the induction motor model in the synchronous

reference frames is obtained. By using the superscript e to denote this electrical synchronous

reference frame. The model is obtained as:

𝑽𝒆 𝒒𝒔 𝑹𝒔 + 𝑳𝒔 𝒑 𝝎𝒓 𝑳𝒔 𝑳𝒎 𝒑 𝝎𝒓 𝑳𝒎 𝒊𝒆 𝒒𝒔
𝒆
𝑽 𝒅𝒔 −𝝎𝒓 𝑳𝒔 𝑹𝒔 + 𝑳𝒔 𝒑 −𝝎𝒓 𝑳𝒎 𝑳𝒎 𝒑 𝒊𝒆
𝒆 = * 𝒆 𝒅𝒔
𝑽 𝒒𝒓 𝑳𝒎 𝒑 (𝝎𝒔 − 𝝎𝒓 )𝑳𝒎 𝑹𝒓 + 𝑳𝒓 𝒑 (𝝎𝒔 − 𝝎𝒓 )𝑳𝒓 𝒊 𝒒𝒓
𝒆
𝑽 𝒅𝒓 −(𝝎 𝒔 − 𝝎𝒓 )𝑳𝒎 𝑳𝒎 𝒑 −(𝝎𝒔 − 𝝎𝒓 )𝑳𝒓 𝑹𝒓 + 𝑳𝒓 𝒑 𝒊𝒆 𝒅𝒓

It may be seen that the synchronous reference frames transform the sinusoidal

inputs into dc signals. This model is useful where the variables in steady state need to be dc

quantities as in the development of small-signal equations. Some high-performance control

schemes use this model to estimate the control inputs; this led to a major breakthrough in

induction-motor control, by decoupling the torque and flux channels for control in a manner

similar to that for separately excited dc motor drives.

2.7 Voltage Source Inverter (VSI)

The VSI synthesizes the voltage vectors commanded by the switching table.

In DTC, this task is quite simple since no pulse width modulation is used, the output devices

stay in the same state during the entire sample period.

The connection of power switchers in a VSI with three-phase windings of a

induction motor is shown in Fig.2.5, where the power switches of this voltage source inverter

are 180° conducting mode [ SD] , which means only three switching signal Sa, Sb and Sc are

needed to uniquely determined the status of six switchers.

 Fig.2.5 Basic three phase VSI

If the switcher in upper leg of certain phase is on, the switching signal for

this phase is defined as S = 1, otherwise S=0 represents the switcher in lower leg of this phase

is on. In this way there are six effective VSVs and two zero VSVs existing in the ordinary

operation for a inverter. Assuming that the VSV is located in the a-axis of the a, b, c

reference frame with phase a voltage Va applied alone, then the inverter output VSVs under

different switching states can be expressed as

2 j2/3π e j4/3π
Vs = Vdc (S + S e +S )
3 a b c

2 2 j2/3 π
= Vdc (S + aS + a S ) , a = e
3 a b c

where Vs is the primary voltage vector, Sa, Sb , Sc represent three-phase switching

states and 2/3 is a transformation coefficient. According to above equation, the inverter

output VSV represent in terms of switching statue where six effective VSVs V 1 – V6 are
apart from each other in space by 60° electric degrees and the two zero VSVs , V 0, V7 are

located in the centre of the space-vector plane.

The inverter keeps the same state until the output of the hysteresis controllers

changes their outputs at the sampling period. Therefore, the switching frequency is usually is

not fixed; it is changes with the rotor speed, load and bandwidth of the flux and torque

controllers.

Summary

In this chapter the basic principle of the DTC scheme is discussed. In this the torque

and flux control are described in detail. The advantages of DTC are given which shows why

DTC is more efficient than other controlling schemes. The dynamic modeling of induction

machine is done for the change of various parameters. Three phases to two phases

transformation is done and discussed as Stanley‟s and Park‟s transformations and derivations

are done. Transformation matrices are also discussed. The reference frame theory is the main

topic discussed which have rotor, stator and synchronous reference frames as the three parts.

We use synchronous frame theory for smaller number of variables. The main topic of voltage

source inverter is discussed in detail and its switching techniques are also analyzed. VSI

performs the main function of the DTC scheme as it supplies the required voltages after

proper switching selection.

 Chapter 3
Simulink Model Of Direct Torque Control Scheme

3.1 Introduction

MATLAB/SIMULINK is a software package for modelling, simulating and

analyzing dynamic systems. In Chapter 1 and 2, the Induction Machine and DTC systems

were explained in detail. In this chapter the simulation models of DTC of IM are

programmed in Matlab Simulink. The DTC model consists different types of subsystem.

They are :

 Stator Voltage Vector Selector Model

 Voltage Source Inverter Model

 Induction Machine model

 Motor Speed Calculator Model

All the subsystems perform different functions according to their modeling which is

based upon the equations used. With the help of these subsystems we calculate the voltages

and currents and then torque and flux for a particular motor operation is estimated with the

help of this scheme. Then comparison of torque and flux with their reference values is done

and according to their difference the next procedure is followed.

The voltages and currents are calculated according to the motor parameters given and

these parameters are selected according to the reference frame. In this DTC scheme we have

used the Stator Reference Frame model.

 The Induction Motor parameters used in this project are given in Table 3.1

Stator Resistance, Rs 0.435 Ω

Rotor Resistanc, Rr 0.816 Ω

Stator Leakage Inductance, Lsl 0.7131 H

Mutual Inductance, Lm 0.6931 H

Rotor Leakage Inductance, Lrl 0.0131 H

Inertia, J 0.089 kgm2

Flux Density, Bm 0.01 wb

Pairs of pole, P 2

Table 3.1 Parameter Values of IM used in Simulation

The above values change according to the rating of the induction machine used. As

the parameter values change then there is a corresponding change in the torque and flux

values of the DTC scheme because of change in voltages and currents which are taken as

input values for calculating torque and flux

For calculating the torque and flux values and controlling the torque we use different

types of blocks. Each block of DTC scheme in the MATLAB simulation works differently

and are interconnected to each other. Each block in DTC scheme is designed according to

their mathematical equations and their reference values. Along with the formation of each

block (subsystem) used in simulation model their functioning is also explained below in this

chapter.
3.2 Stator Voltage Vector Selector Model

The function of stator voltage vector selector is to provide the suitable

switching state to the next stage of DTC scheme i.e. voltage source inverter (VSI). It have

three inputs which are flux reference (f_ref), torque error (T_er) and calculated flux (f s).

The flux reference is used as a reference value for the calculated flux

which is taken from the induction machine subsystem. The torque error is generated as a

result of the difference between the reference value of torque and the torque calculated from

the induction machine subsystem.

Fig.3.1 Stator Voltage Vector Selector

The stator voltage vector selector have mainly three components which are

used for estimating the switching state of the VSI. They are:

i. Hysteresis Comparator
 ii. Switching Table

iii. Sector Selector

3.2.1 Hysteresis Comparator Model

The hysteresis comparator is simulated using the relay block from the

SIMULINK/Discontinuities library. The Relay block allows its output to switch between two

specified values. When the relay is on, it remains on until the input drops below the value of

the Switch off point parameter. When the relay is off, it remains off until the input exceeds

the value of the Switch on point parameter. The block accepts one input and generates one

output.

The Switch on point value must be greater than or equal to the Switch off point.

Specifying a Switch on point value greater than the Switch off point value models hysteresis,

whereas specifying equal values models a switch with a threshold at that value.

Fig.3.2 Two Level Hysteresis Comparator

Fig.3.2 shows a relay, which represents the two-level hysteresis comparator for stator

flux. It allows the output to switch between 1 and 0.

 If the flux error signal indicates 1, which means the flux is less than its request value

and therefore the flux phasor has to be increased, and if the value is 0 then it has to be

decreased.

Likewise, the three-level hysteresis comparator is modelled by using two relay blocks

connected in parallel (Fig.3.3). The upper Relay switches between 1 and 0 while the lower

relay switches between 0 and –1. The switch on point and switch off point designate the

hysteresis band in the parameter dialog box.

Fig.3.3 Three Level Hysteresis Comparator

Interpretation of ST is as follows: when it is 1 amounts to increasing the voltage

phasor, 0 means to keep it at zero, -1 requires retarding the voltage phasor behind the flux

phasor to provide regeneration.

3.2.2 Switching Table

The switching table is made using the look up table from the SIMULINK/Look

Table library. In this model we use two types of table:

 Direct look up table (3-D)

 Direct look up table (2-D)

 Fig.3.4 Lookup Table Block

There are three inputs to the direct look up table (3-D) which are flux error,

torque error and the sector selector. In this type of look up table we can associate table either

directly in function block parameter or my by the help of a .m file.

The 3-D look up table after analysing the torque and flux errors, it selects the

state of the voltage vector with the help of sector selector and gives the output to the direct

look up table (2-D). The 2-D look up table decides the switching states of the inverter

according to the state of voltage vector.

3.2.3 Sector Selector

Sector selector block is used for determining the sextant of the voltage vector.

In this block the input given is the calculated flux from the induction machine subsystem.

Fig.3.5 Sector Selector

The input is given to a function block to which a value (atan2(u(2),u(1))) is given.

 P = atan2(u(2),u(1)) returns an array P the same size as u(2) and

u(1) containing the element-by-element, four-quadrant inverse tangent (arctangent) of the real

parts of u(2) and u(1). Any imaginary parts of the inputs are ignored. Elements of P lie in the

closed interval [-pi,pi], where pi is the MATLAB® floating-point representation of π. atan

uses sign(u(2)) and sign(u(1)) to determine the specific quadrant.

Fig.3.6 Range of function atan2(u(2),u(1))

atan2(u(2),u(1)) contrasts with atan(u(2)/u(1)), whose results are limited to the

interval , or the right side of this diagram.

The output value of function block (atan2(u(2),u(1))) is fed to the relational operator

block which compares it with a constant value which is zero. The relational operator returns 1

if the output from the function block is less than zero or negative and will return 0 if the

output of the function is positive. The output from the relational operator is multiplied with a

constant gain of value 2*pi and then it is summed up with the actual output of the function

block. Then the output of sum block is added with a value pi/6. Then the output is multiplied

with a constant gain of value 1/(pi/3) for determining the voltage sextant.
 Then the rounding function performs the floor operation i.e. Rounds each element of

the input signal to the nearest integer value towards minus infinity. Then the mod operation is

performed by the math function. Thus the sector selector decides the sextant of the voltage

vector. And the output of the sector selector is given to direct lookup table (3-D).

3.3 Voltage Source Inverter Model

A 3-phase VSI yields eight possible configurations of six switching devices

as shown in Fig.3.7. Sa, Sb, and Sc are the switching functions of each leg of the inverter. In

each leg, the upper and lower switches are always complimentary to each other. Sa, Sb, or Sc

equals to 1 indicates that the upper switch of the leg is ON while the value of 0 shows that the

lower switch of the leg is ON. The line-to-neutral voltage va, vb and vc are determined by the

inverter switching modes. Vdc denotes the DC link voltage.

Fig.3.7 Voltage Source Inverter

The Switch block passes through the first input or the third input based on

the value of the second input. The first and third inputs are called data inputs. The second

input is called the control input.

3.3.1 Switching States Of Inverter

Consider the inverter shown in Fig.3.7 The terminal voltage a with respect to

negative of the dc supply is considered, and Va is determined by a set of switches, Sa. The

switching of Sb and Sc sets for line b and c can be similarly derived. The total number of

switching states possible with Sa, Sb and Sc is eight. They are elaborated in Table 3.2 by

using the following relationships:

Vab = Va - Vb

Vbc = Vb – Vc

Vca = Vc – Va

Table 3.2 Inverter Switching States And Machine Voltages

and machine phase voltages for a balanced system are:

Vas = (Vab – Vca) / 3

Vbs = (Vbc – Vab) / 3

Vcs = (Vca – Vbc) / 3

and q and d axes voltages are given by:

Vqs = Vas

Vcs = (Vca – Vbc) / 3 = Vcb / 3

The stator q and d voltages for each state are shown in Fig.3.8 .The limited

states of the inverter create distinct discrete movement of the stator-voltage phasor. Vs

consisting of the resultant of Vqs and Vds.

Fig.3.8 Inverter Output Voltages Corresponding To Switching States

For control of the voltage phasor both in its magnitude and phase, the

requested voltage vector‟s phase and magnitude are sampled, say once every switching

period. The phase of the requested voltage vector identifies the nearest two non-zero voltage

vectors. The requested voltage vector can be synthesized by using fractions of the two nearest

voltage vectors, which amounts to applying these two vectors, one at a time, for a fraction of

the switching period. The nearest zero voltage vector to the two voltage vectors is applied for

the remaining switching period.

 The duty cycle for each of the voltage vectors is determined by the phasor

projection of the requested voltage vector onto the two nearest voltage vectors. This method

of controlling the input voltages to the machine through a synthesis of voltage phasor rather

than the individual line-to-line voltages has the advantages of:

(i) not using pulse-width modulation carrier-frequency signals.

(ii) given the switching frequency, the Switching losses are minimized.

(iii) lower voltage and current ripples.

3.3.2 Flux Control

A uniform rotating stator flux is desirable, and it occupies one of the sextants (in

the phasor diagram shown in Fig.3.9) at any time. The stator flux phasor has a magnitude of

λs with an instantaneous position of θfs. The corresponding d and q axes components are λds

and λqs respectively.

Fig.3.9 Division Of Sextants For Stator Flux-Linkages Identification

 Assuming thal a feedback of stator flux is available, its place in the sextant is

identified from its position. Then the influencing voltage phasor is identified hy giving a 900

phase shift. For example, if the stator-flux phasor is in sextant <2>, the right influencing

voltage phasor has to be either VI or I. Voltage phasor I is 90° - θfs and VI is 150 - θfs from

the flux phasor. One of these two sets increases λ s, the other decreases λs. This is found from

the following explanation obtained from Fig. 3.

Fig.3.10 Effect Of Switching VI And VVI On Stator-Flux Phasor

Consider the effect of switching voltage phasor set I, VI, and phasor set VI, VVI.

As seen from the phasor diagram, in the case of set I, the flux phasor increases in magnitude

from λs to λsI in the case of set VI, it decreases to λsVI. This Implies that the closer vollage-

phasor set increases the flux and the farther voltage-phasor set decreases the flux, but note

that both of them advance the flux phasor in position. Similarly for all other sextants, the

switching logic is developed. A flux error, λer, thus determines which voltage phasor has to

be called, and this flux error is converted to a digital signal with a window comparator with a

hysteresis of δλs (let it be Sλ). The switching logic to realize Sλ from λer is given in the

following:
 Table 3.3 Switching Logic For Flux

Condition Sλ

λer > λs 1

λer ≤ λs 0

Over and above the flux control, the control of electromagnetic torque is required

for a high-performance drive.

3.3.3 Torque Control

Torque control is exercised by comparison of the command torque

to the torque measured from the stator flux linkages and stator currents as

𝟑 𝑷
Te = * ( λds iqs – λqs ids )
𝟐 𝟐

The error torque is processed through a window comparator to produce digital

outputs, ST as follows:

Table 3.4 Switching Logic For Torque

Condition ST

(𝑻∗𝒆 - 𝑻𝒆 ) > δTe 1

- δTe < (𝑻𝒆∗ - 𝑻𝒆 ) < δTe 0

(𝑻∗𝒆 - 𝑻𝒆 ) < - δTe -1

Where δTe is the torque window acceptable over the commanded torque.

When the error exceeds δTe, it is time to increase the torque, denoting it with a +1 signal. If

the torque error is between positive and negative torque windows. then the voltage phasor
could be at zero state. If the torque error is below - δTe, it amounts to calling for regeneration,

signified by -1 logic signal.

Interpretation of ST is as follows: when it is 1 amounts to increasing the voltage

phasor, 0 means to keep it at zero, -1 requires retarding the voltage phasor behind the flux

phasor to provide regeneration. Combining the flux error output Sλ, the torque error output ST

and the sextant of the flux phasor Sθ, a switching table can be realized to obtain the switching

states of the inverter. The algorithm for Sθ is shown in Table 3.5.

Table 3.5 Switching States For Possible Sλ, ST And Sθ

Consider the first column corresponding to Sθ = <1>. The switching states of

the inverter are indicated in parentheses; they correspond to Sa , Sb and Sc. The flux error

signal indicates 1, which means the flux is less than its request value and therefore the flux

phasor has to be increased. At the same time, torque error is positive, asking for an increase.

Merging these two with the position of the flux phasor in <1 >,the voltage phasor I and VI

satisfy the requirements only if the flux is within the first 300 of thc sextant <1 >. In the

second 30°, note that the voltage phasor I will increase the flux-phasor magnitude but will

retard it in phase. This will result in a reduction of the stator frequency and reversal of the
direction of torque. The control requires the advancement of the flux phasor in the same

direction (i.e. counter-clockwise in this discussion): that could be satisfied only by voltage

phasor VI in this 30°. Voltage phasor VI is the only one satisfying the uniform requirements

throughout the sextant < 1>, so the voltage phasor VI is chosen for ST and Sλ to be equal to

+1 with the flux phasor in sextant <1>.

Similarly when the torque error is 0 or -1, there is a change in the switching state

of the inverter.

Table 3.6 Flux-Phasor Sextant Logic (Sθ)

θfs Sextant

0 ≤ θfs ≤ π/3 <2>

-π/3 ≤ θfs ≤ 0 <3>

-2π/3 ≤ θfs ≤ -π/3 <4>

-π ≤ θfs ≤ -2π/3 <5>

2π/3 ≤ θfs ≤ π <6>

π/3 ≤ θfs ≤ 2π/3 <1>

3.4 Induction Machine Model

The induction machine model used for the simulation is constructed using

SIMULINK blocks as shown in Fig.3.12. In this DTC scheme we have done induction

machine modelling, which is based on stator reference frame theory. So all the equations used

for induction motor modelling is based on stator reference frame. The inputs to the induction

machine model are stator voltage (Vs), synchronous speed (wk) and mechanical speed (w mec).
 Fig.3.11 Induction Machine Simulink Model

This model is based on following equations:

Vs = Rsis + ωk × K*fs + p*fs

Vr = Rrir + (ωk-ωmec) × K*fr + p*fr

With the help of these equations stator and rotor flux are calculated. ωk × (K*fs)

denotes the cross product of synchronous speed and stator flux.

For calculating stator flux, stator voltage is added with stator current

multiplied with stator resistance and then the cross product of stator flux and synchronous

speed is also fed back to summing point block and the resultant is integrated and given to the

flux current subsystem . Similarly for calculating rotor flux, rotor voltage is added with rotor

current multiplied by rotor resistance, and also the cross product of rotor flux with the

difference between the synchronous and mechanical speed is fed back to the summing point

and the resultant is integrated and given to the flux current subsystem.
 In flux current subsystem the stator and rotor flux are two inputs, and stator and rotor

current are the outputs obtained from this subsystem by performing following function:

is = fsGs - frGm

ir = frGr - fsGm1

where , Gs = (Lrl+Lm) /(Lsl*Lrl+Lsl*Lm+Lrl*Lm)

Gm = Lm /(Lsl*Lrl+Lsl*Lm+Lrl*Lm)

Gm1 = Lm /(Lsl*Lrl+Lsl*Lm+Lrl*Lm)

Gr = (Lsl+Lm )/(Lsl*Lrl+Lsl*Lm+Lrl*Lm)

Fig.3.12 Flux-Current Block

Electromagnetic torque is also calculated in induction machine subsystem

represented by the following equation:

Te = is • (k*fs)

Torque is calculated by dot product between stator current and stator flux.
3.5 Motor Speed Calculator Model

In this block the inputs are reference torque (T i) and electromagnetic

torque (Te). They are inserted in a summing block with the feedback of mechanical speed

(ωm) multiplied with the flux density (Bm). Here we have a equation for Te as :

𝐝𝛚𝐦
Te = Ti + Bmωm + J 𝐝𝐭

This is used for calculating rotor speed.

Fig.3.13 Simulink Model Of Motor Speed Calculator

Then the resultant from the summing block is multiplied with a inertia factor and

the result is integrated for getting the mechanical speed required.

3.6 Block Diagram Of Direct Torque Control Scheme

The complete block diagram of Direct Torque Control scheme is shown in Fig.3.14
 Fig.3.14 Complete DTC Model

In DTC scheme there are several input blocks, subsystem blocks and several

scopes for displaying the results with each block interconnected to each other. At the starting

electromagnetic torque is calculated through reference speed and then the torque calculated

from reference value is compared with the electromagnetic torque and the resultant is given

to the sector voltage selector.

And also the flux calculated by induction machine is compared with its reference

value in sector selector. Sector voltage selector selects the voltage of current phasor

according to the error in calculated flux and torque of the induction motor. Then after that the

error in the torque and flux is eliminated by using hysteresis comparator, look up tables and

sector selector. Two kinds of look up tables are used which are direct look up table (3-D and

2-D).

If there is an error between the torque and flux phasor the hysteresis comparator

works as a relay i.e. it gives an output according to the change in torque and flux phasor. The
appropriate switches are selected in the voltage source inverter according to the switching

state provided to it by the previous stage of stator voltage selector and there is a change in the

inverter output voltage according to voltage sextant.

The inverter output is provided to the induction machine model which thus gives

electromagnetic torque as output. The inverter output is three phase which is converted to two

phase through transformation equations. The transformation provides us with less complexity

left as there will be lower number of variables in the two phase system than three phase

system and by this, calculations will be faster and the scheme will give faster response. This

output is compared with the reference value and there difference is used to calculate the

mechanical speed of the machine which is compared with the reference value and also fed

back to the input side.

Summary

In this chapter the simulink models of the DTC scheme is given. It have three main

parts which are stator voltage vector selector model, VSI model, induction machine model

and the motor speed calculator model. The voltage vector selector model have three main

parts namely hysteresis comparator, switching table and sector selector which are the key

parts for DTC operations. VSI model with its switching states and the flux and torque control

models are discussed which operate the inverter according to the voltage requirements. The

induction machine models with its essential parameters is also discussed. This is the

controlled part of the DTC scheme. The motor speed calculator model is used for calculating

the mechanical speed obtained by the motor which then is fed back to the system for

comparison with the reference values.

 Chapter 4

Results And Conclusions

4.1 Introduction

In this chapter, the torque and speed response of the DTC scheme of induction

machine is analyzed after giving the input to motor model through the .m file program in

Simulink. The program contains the motor parameters. The program also contain the look up

table for switching for the voltage source inverter (VSI).

4.2 Simulink Program For Input

% Switching Table For DTC

a(:,:,1) = [5 0 3; 6 0 2];

a(:,:,2) = [6 0 4; 1 0 3];

a(:,:,3) = [1 0 5; 2 0 4];

a(:,:,4) = [2 0 6; 3 0 5];

a(:,:,5) = [3 0 1; 4 0 6];

a(:,:,6) = [4 0 6; 5 0 1];

Rs = 5.5

Rr = 4.51

Lrl = 0.3065

Lm = 0.2919
 Lsl = 0.3065

J = 0.03

p=2

Bm = 0.01

In this program „a‟ is a matrix which is input the direct look up table (3-D) in

Simulink model. The induction machine parameter values are given in the program.

4.3 Output of Simulation Model

From the graph it can observed that the torque is zero at starting but when the

load is connected across the machine then there is distortion in torque wave but after step

time the torque is constant at its desired value.

30

25

20

15
Torque

10

-5

-10

-15
0.5 0.55 0.6 0.65 0.7 0.75 0.8 0.85 0.9 0.95 1
Time

Fig.4.1 Torque Curve Of DTC

 800

600

400

Speed 200

-200

-400

-600

-800
0.5 0.55 0.6 0.65 0.7 0.75 0.8 0.85 0.9 0.95 1
Time

Fig.4.2 Speed Curve Of DTC

4.4 Conclusion

Direct Torque Control has a good dynamic torque response when compared

with other control methods. Since the introduction of DTC a lot of research has been done to

improve the performance of DTC drives while maintaining the good properties such as low

complexity, good dynamic response, high robustness. This thesis explained the mathematical

equations related to the application of DTC in IM. The equations show that the change of

torque can be controlled by keeping the amplitude of the stator flux linkage constant and

increasing the rotating speed of the stator flux linkage as fast as possible. The amplitude and

rotating speed of the stator flux linkage can be controlled by selecting the proper stator

voltage vectors. The torque and flux linkage reference are kept constant at the same level.

A detailed Simulink model for DTC of IM has being developed. Simulink has been

chosen from several simulation tools because its flexibility. Mathematical models can be

easily incorporated in the simulation and the present numerous toolboxes and support guides

simplified the simulation of large system compared to other software. Simulink is capable of

showing real time results with reduced simulation time and debugging.
 References

1. Bimal K. Bose, (2002), Modern Power Electronics and AC Drives, Prentice Hall
2. R. Krishnan, (2005), Electric Motor Drives- Modeling, Analysis & Control, Prentice Hall

3. ABB Technical Guide on DTC

4. Anil Kumar Yaramasu and Sai Ram T, Development & Implementation of Direct Torque
Control Scheme for Three Phase Induction Motor Drives using MATLAB, Rao & Naidu
Engineering College, Ongole

5. B.L.Theraja, A.K.Theraja, (2006), A Text Book On Electrical Technology, S.Chand

6. Isao Takashi, Toshishiko Noguchi (1997. Take a look back upon the past decade of direct
torque control . IECON 97
7. I. Takahashi, T. Noguchi, (1986) “A new quick-response and high efficiency control
strategy of an induction motor”, IEEE Trans. Ind. Appl., Vol. IA-22, No 5, pp. 820-827
8. Z.Tan , Y.Li and M.Li. (2001). A direct Torque Control of induction motor based on
three level-inverter in Proc.IEEE PESC, Vol12
9. John R G Schofield, (1995) “Direct Torque Control – DTC”, IEE, Savoy Place, London
WC2R 0BL, UK
10. L. Tang, L. Zhong, M. F. Rahman, Y. Hu, (2002) “An Investigation of a modified Direct
Torque Control Strategy for flux and torque ripple reduction for Induction Machine drive
system with fixed switching frequency”, 37th IAS Annual Meeting Ind. Appl. Conf. Rec.,
Vol. 1, pp. 104-111
11. P. Tiitinen and M. Surandra, (1996) “The next generation motor control method, DTC
direct torque control”, Proceeding of the 1996 International Conference on Power
Electronics Drives and Energy System for Industrial Growth, N. Delhi, India, Vol.1, pp.
37-43
12. www.wikipedia.org
13. www.google.co.in
14. www.scribd.com
15. www.whereisdoc.com