Modeling and simulation of an

improved dsvm for pmsm dtc

 Introduction

PMSM has found wide applications due to its high power density,

high efficiency, high torque to inertia ratio and high reliability.

A very widely used drive strategy for PMSM is the FOC ,which
was proposed by Blaschke in 1971.
The FOC(field oriented control) scheme is quite complex due to
reference frame transformation and its high dependence upon the
motor parameters and speed.
To mitigate these problems , a new control strategy for the torque
control of induction motor was developed by Takahashi known as
DTC.
 Objective
To develop the basic SVM based DTC scheme for Permanent

magnet synchronous motor (PMSM).

To develop the Discrete space vector modulation (DSVM) based

DTC scheme for PMSM using fuzzy logic controller
Comparing the basic DTC with the DSVM based DTC for PMSM

to get better performance.

 Direct Torque Control
DTC is method to control machine with utilizing torque and
flux of motor control.

The basic DTC scheme consists of two comparators having

different features, switching table, Voltage Source Inverter
(VSI), flux and torque estimation.

The hysteresis controllers outputs in turn switch the three inverter

legs, applying a set of voltage vectors across the motor.
Block Diagram for basic DTC
Mathematical Model for PMSM DTC
vabcs = rsiabcs+d (abcs)
dt
vq = rsiq+rd+d (q)
dt
vd= rsid-rq+d (d)
dt
q= Lqiq

d= Ldid+m

Te=(3/2) (P/2)(i-i)
Simulation Diagram For PMSM Model
 Torque and Speed Estimation Block

Model equation of torque and speed is Jd (r) = (P/2)(Te-Tl)

dt
Simulation Block For Switching Signal
 Eight possible voltage space vectors obtained
from VSI

The basic concept behind the DTC of AC drive, as its name implies, is
to control the electromagnetic torque and flux linkage directly and
independently by the use of six or eight voltage space vectors found in
 Switching Table for Basic DTC
T 1 2 3 4 5 6

1 1 110 010 011 001 101 100

1 0 000 000 111 000 111 111

1 -1 101 100 110 010 011 001

0 1 010 011 001 101 100 110

0 0 111 111 000 111 000 000

0 -1 001 101 100 110 010 011

Simulation Diagram For Basic DTC
 Drawbacks Of The Basic DTC

Large ripples of torque and flux linkage.

The switching state inverter is updated only once in every
sampling interval.
Non constant inverter switching frequency, which changes with
the rotor speed , load torque and bandwidth of the two hysteresis
controllers.
 Discrete Space Vector Modulation
(DSVM)
This technique can clearly reduce the torque and flux ripples,
more than six vectors directions are necessary to achieve a
decoupled control of flux and torque of the machine.
The simple switching table replaced by several switching
tables, obtaining a combination of three voltage vectors
into the same sampling period, which is called Discrete
Space Vector Modulation(DSVM).
Fuzzy Logic Controller block used in
DSVM DTC
 Switching Table Of DSVM DTC

Torque
Speed Sector Flux -2 0 +1
-1
+2
-1 555 ZZZ 3ZZ
Low 1 5ZZ 333
+1 666 ZZZ 2ZZ
6ZZ 222
-1 555 3ZZ 33Z
Medium 1 ZZZ 333

+1 666 2ZZ 22Z

ZZZ 222

-1 555 23Z 332

High 1- 3ZZ 333
+1 666 22Z 222
2ZZ 222
-1 555 33Z 333
1+ 3ZZ 333
+1 666 22Z 222
2ZZ 222
Simulink Block Diagram of DSVM DTC
 Steady state performance of basic DTC at speed 100rpm with
constant load

Steady state performance of DSVM DTC at speed 100rpm with constant

load
 Steady state performance of basic DTC at torque 10Nm with constant
load

Steady state performance of DSVM DTC at torque 10Nm with constant

load
Steady state performance of basic DTC at speed1000 rpm with constant
load

Steady state performance of DSVM DTC at speed1000 rpm with

constant load
Steady state performance of basic DTC at torque 10Nm with constant
load

Steady state performance of DSVM DTC at torque 10Nm with constant

load
Performance of basic DTC at speed1000 rpm with variable load

Performance of DSVM DTC at speed1000 rpm with variable load

Performance of basic DTC at torque 5Nm with variable load

Performance of DSVM DTC at torque 5Nm with variable load

Performance of basic DTC at speed 1000rpm with variable load

Performance of DSVM DTC at speed 1000rpm with variable load

Performance of basic DTC at torque 5Nm with variable load

Performance of DSVM DTC at torque 5Nm with variable load

 Advantages Of DSVM DTC Over Basic
DTC
This method improves the DTC scheme , which replaces the
simple switching tables by several switching tables , to apply a
combination of three voltage vectors in same sampling period.
Torque and flux ripple could be reduced with small calculation
cost.
The switching loss of the proposed scheme is less than that of the
basic DTC method.
 Conclusions
The DSVM DTC method is designed to modify the basic DTC
control scheme to improve the performance of PMSM drive
system with significant reduction of torque and flux ripples
without using any complicated control algorithms.

For this purpose the DSVM technique uses prefixed time

intervals within a sampling cycle to synthesize a higher
number of voltage vectors than the basic DTC scheme.
 Suggestion For Future Work

The main drawback of the DSVM based DTC in PMSM is that

we cannot nullify its relatively high torque and flux ripples and
also variable switching frequency.
Therefore, the DSVM based DTC of PMSM can be compared
by using other control methods employing NEURAL
NETWORKS, GENETIC ALGORITHM, etc.
 References
F. Blaschke,``The principle of field orientation as applied to
transvector closed loop control system for rotating field
machines``, Siemens review,vol.39,no.5,pp.217-220,172.
M.depenbrock ,``Direct self control(DSC) of inverter fed
induction motor``, IEEE transaction power electronics,
vol.3,no.4,pp.420-429,oct.1988.
D.ocen,L.Romeral,j.A. ortega,j.cusido and ,``discrete space
vector modulation on a PMSM motor``.
 Thank U

Submitted by
SHAKUNTALA.S
09001D4214