Simulation of Direct Torque and Flux Control Strategy For An Induction Motor

International Journal of Electrical Engineering and Technology (IJEET), ISSN 0976
6545(Print), ISSN 0976 6553(Online) Volume 4, Issue 1, January- February (2013), IAEME
145

SIMULATION OF DIRECT TORQUE AND FLUX CONTROL
STRATEGY FOR AN INDUCTION MOTOR USING
MATLAB/SIMULINK SOFTWARE PACKAGE

Deepak Kumar Goyal

M.Tech from IIT Roorkee
Assistant Professor, Department of Electrical Engineering, Govt Engg. College, Bharatpur,
Rajasthan., India

ABSTRACT

This paper describes a control scheme for direct torque and flux control of in
induction motor based on stator flux estimation, which has many of the desirable features of
conventional constant v/f ratio. The use of simple equation to obtain the control algorithm
makes it easier to understand and implement. Switching instant and low torque ripple are
obtained using voltage space vector.

Keywords : control strategy, direct torque and Flux control, induction motor, space vector.

I. INTRODUCTION

In recent year many studies have been developed to find out different solution for
induction motor control having the feature of precise and quick torque response, Flux control
and reduction of the complexity of field oriented algorithms. The Direct Torque and Flux
Control (DTFC) technique has been recognized as viable solution to achieve these
requirements.
In principle the DTFC selects one of the six voltage vector and two zero voltage
vectors generated by a VSI in order to keep stator flux and torque within limits of two
hysteresis bands. The right application of this principle allows a decoupled control of flux
and torque without need of speed or position sensor, coordinate transformation, PWM pulse
generation and current regulator. However, the presence of hysteresis leads to a variable
switching frequency operation.
In [3]-[4] different method has been presented which allow constant switching
frequency operation. In general, they require control schemes which are more complex with
respect to the basic DTFC scheme.
INTERNATIONAL JOURNAL OF ELECTRICAL ENGINEERING
& TECHNOLOGY (IJEET)
ISSN 0976 6545(Print)
ISSN 0976 6553(Online)
Volume 4, Issue 1, January- February (2013), pp. 145-152
IAEME: www.iaeme.com/ijeet.asp
Journal Impact Factor (2012): 3.2031 (Calculated by GISI)
www.jifactor.com

IJEET
I A E M E
146

II. INDUCTION MOTOR MODEL

The d-q axis dynamics equation for squirrel case induction motor with the reference
frame which rotating with speed are given by[7]
) 1 ( + + =
qs ds qs s qs
p i R v

) 2 ( + =
ds qs ds s ds
p i R v

) 3 ( ) ( + + =
qr dr r qr r qr
p i R v

) 4 ( ) ( + =
dr qr r dr r dr
p i R v

) 5 ( ) ( + + =
qr qs m qs ls qs
i i L i L

) 6 ( ) ( + + =
dr ds m ds ls ds
i i L i L

) 7 ( ) ( + + =
dr ds m qr lr qr
i i L i L

) 8 ( ) ( + + =
dr ds m dr lr dr
i i L i L

Because machine parameter is taken in per unit so it is convenient to express the
voltage and flux linkage in terms of reactance rather than induction. And now flux linkage
become flux linkage per second.
( ) ) 9 (
|
|
\
|
|
|
\
|
+
|
|
\
|
|
|
\
|
=
qs mq
ls
s
ds
b
qs
b
qs
X
R
v
p

( ) ) 10 (
|
|
\
|
|
|
\
|
+
|
|
\
|
|
|
\
|
=
ds md
ls
s
qs
b
ds
b
ds
X
R
v
p

( ) ) 11 (
|
|
\
|
|
|
\
|
+
|
|
\
|
|
|
\
|
=
qr mq
lr
s
dr
b
r
qr
b
qr
X
R
v
p

( ) ) 12 (
|
|
\
|
|
|
\
|
+
|
|
\
|
|
|
\
|
=
dr md
lr
s
qr
b
r
dr
b
dr
X
R
v
p

147

and electromagnetic torque is given as

( ) ) 13 (
1
2 2
3

|
|
\
|
|
\
|
|
\
|
=
ds qs qs ds
b
e
i i
P
T

) 14 (
|
|
\
|
+ =
lr
qr
ls
qs
aq mq
X X
X

) 15 (
|
|
\
|
+ =
lr
dr
ls
ds
aq md
X X
X

Where
1
1 1 1
|
|
\
|
+ + =
m lr ls
aq
X X X
X
( ) ) 16 (
1
=
mq qs
ls
qs
X
i

( ) ) 17 (
1
=
md ds
ls
ds
X
i

( ) ) 18 (
1
=
mq qr
lr
qr
X
i

( ) ) 19 (
1
=
md dr
lr
dr
X
i

As we require machine model in stator reference frame so put =0 and for squirrel
cage induction motor 0
qr
v = and 0
dr
v =

R
s
and R
r
are the stator and rotor resistance.
L
s
,L
r
and L
m
are the self and mutual induction.
r
is the rotor angular speed in electrical radian.

III. THEORY OF DTFC[5]

From eq. (1-2)
) 20 ( ) ( =
dt R i v
s qs qs qs

) 21 ( ) ( =
dt R i v
s ds ds ds

The stator flux is given by

) 22 ( ) (
2 2
+ =
e ds qs s

148

These
qs
v and
ds
v can be estimated as below

(23)
qs as
v v =

1
( ) (24)
3
ds cs bs
v v v
| |
=
|
\

And electromagnetic torque can be calculated as

3
( ) (25)
4
e ds qs qs ds
P
T i i
| |
=
|
\

Fig 1 shows the block diagram of DTFC of an induction motor. As shown in Fig. 1, the
inverter switching states are selected according to the error of the torque and flux, which are
indicated by,
e
T and
s
, respectively.

*
(26)
e e e
T T T =

*
(27)
s s s
=

Where
*
e
T and
*
s
are reference torque and stator flux.The table II shows the
associated inverter switching states which are determined by the error of torque and flux, and
position of stator flux, which calculated as

1
tan (28)
qs
e
ds
(
=
(

Te
*

+
-

-
1
-1
-1
1
0
Torque and flux
estimation
*
s
I
II
III
IV
V
VI
VSI
+ Vdc -
Sa
Sb
Sc
Induction
motor
Ia,Ib

Va,Vb
Te
s
Te
s
HTe
Hs
Fig. 1:Block diagram of DTFC of
induction motor
Induction motor
149

e
S(k) (sector)
/3 <e

2/3 S(1)
0 <
e

/3 S(2)
-/3 <e

0 S(3)
-2/3 <
e

-/3 S(4)
- <
e

-2/3 S(5)
2/3 < e

S(6)

Table I: Position (Sector ) of flux

HT
e
H
s
S (1) S (2) S (3) S (4) S (5) S (6)
1 1

VI
(1,1,0)
I
(1,0,0)
II
(1,0,1)
III
(0,0,1)
IV
(0,1,1)
V
(0,1,0)
1 0 VIII
(1,1,1)
VII
(0,0,0)
VIII
(1,1,1)
VII
(0,0,0)
VIII
(1,1,1)
VII
(0,0,0)
1 -1 II
(1,0,1)
III
(0,0,1)
IV
(0,1,1)
V
(0,1,0)
VI
(1,1,0)
I
(1,0,0)
0 1 V
(0,1,0)
VI
(1,1,0)
I
(1,0,0)
II
(1,0,1)
III
(0,0,1)
IV
(0,1,1)
0 0 VII
(0,0,0)
VIII
(1,1,1)
VII
(0,0,0)
VIII
(1,1,1)
VII
(0,0,0)
VIII
(1,1,1)
0 -1 III
(0,0,1)
IV
(0,1,1)

V
(0,1,0)
VI
(1,1,0)
I
(1,0,0)
II
(1,0,1)

Table II: Switching states for possible HT
e,
H
s
and S(k)

Noting that an adjustable speed drives can obtain by adding a speed controller to generate
torque command. The phase voltage can be determined as
(2 )
3
(2 ) (29)
3
(2 )
3
dc
as a b c
dc
bs b c a
dc
cs c a b
V
v S S S
V
v S S S
V
v S S S
| |
=
|
\
| |
=
|
\
| |
=
|
\

Where , ,
as bs cs
v v v are phase voltages

, ,
a b c
S S S denote as inverter switching state, in which S
i
=1 (i=a,b,c), if the upper leg switch is
on and
S
i
=0 (i=a,b,c) if the upper leg switch is off.
V
dc
is the dc link voltage.

150

IV. ADVANTAGE OF DTFC BASED DRIVES

The field oriented control approach invokes the concept of transforming the stationary
quantities into synchronous ones and orienting the referred flux along the d-axis of the
synchronous frame while in contrast the DTFC does not invoke any such works.

V. IMPLEMENTATION RESULT

The figures (3 to 7) present simulation results based on model of a 10h.p. induction
motor. Its main parameters are shown below. Rated power: 10 hp; rated voltage: 220V(line to
line); rated frequency: 60 Hz; stator resistance R
s
=.0453 p.u.; rotor resistance R
r
=.0222 p.u.
stator reactance X
ls
=.0775 p.u. rotor reactance X
lr
= .0322 p.u.; mutual reactance X
m
= 2.042
p.u. and inertia H= .5 sec.

VI. CONCLUSION

In this paper, a direct torque and flux control scheme is presented. It based on the
induction motor model and space vector theory. As a result, both flux and torque can be
controlled separately without any transforming the stationary quantities into synchronous
one.

q-axis
d-axis
Reference

/3
/3 /3
V
I
V
II
V
III
V
IV
V
V
V
VI
S(1)
S(3)
S(1)
S(4)
S(5)
S(6)
Fig 2: Voltage Space Vector and Flux Sector
151

VII. SIMULATION RESULTS

152

VIII. REFERENCES

[1] Y.A.Chapuis, D.Roya, J.Davoine, Principles and implementation of Direct Torque
Control by stator flux orientation of an Induction Motor, IEEE Applied Power Electronic
conference and Exposition-Industry Dallas, March 1995.
[2] T.G.Habetler, Control Strategy for Direct Torque Control of Using Discrete pulse space
Modulation, IEEE Trans. Ind. App. , vol. 27, no. 5, pp.893-901, sept./oct. 1991
[3] Yen-Shin Lai and Jian-Ho Chen, A New Approach to Direct torque control of induction
motor for constant Inverter Switching Frequency and Torque Ripple Reduction, IEEE
Transaction on energy conversion, vol. 16, NO. 3, Sept. 2001
[4] T.G.Habetler, Direct Torque Control of Using space Vector Modulation, IEEE
Trans. Ind. App. , vol. 28, no. 5, pp.1045-1053, sept./oct. 1992
[5] R. Krishnan, Electric motor drives, modeling, analysis and control, Prentice- Hall of
india private limited, New Delhi-110001,2003
[6] B.K. Bose, Modern Power electronics and AC Drives, Published by Pearson Education
(Singapore) pte, Ltd. Indian Branch, 2003
[7] P. C. Krause, Analysis of electric machinery, McGraw-Hill, 2001.
[8] P. Tiitinen, The next generation motor control method, DTC direct torque control, in
Proceedingss of the IEEE Intl. Conf. on Power Electronics,Drives, and Energy Systems
for Industrial Growth, 1996, pp.
[9] Domenico Casadei, Giovanni Serra and Angelo Tani, Improvement of Direct Torque
Control Performance by using a Discrete SVM technique, IEEE Trans. Ind. App. ,1998.
[10] Vaibhav B. Magdum, Ravindra M. Malkar and Darshan N. Karnawat, Study &
Simulation of Direct Torque Control Method For Three Phase Induction Motor Drives
International Journal of Electrical Engineering & Technology (IJEET), Volume 2,
Issue 1, 2011, pp. 1 - 13, Published by IAEME.
[11] N. S. Wani and W. Z. Gandhare, Voltage Recovery of Induction Generator Using
Indirect Torque Control Method International Journal of Electrical Engineering &
Technology (IJEET), Volume 3, Issue 3, 2012, pp. 146 - 155, Published by IAEME.
[12] Vishal Rathore and Dr. Manisha Dubey, Speed Control of Asynchronous Motor Using
Space Vector PWM Technique International Journal of Electrical Engineering &
Technology (IJEET), Volume 3, Issue 3, 2012, pp. 222 - 233, Published by IAEME.
[13] Bhagirath Ahirwal and Prof. Tarun Kumar Chatterjee, Effect of starting torque on the
temperature rise and time t
E
of Increased Safety HT Induction Motor for Explosive
Atmospheres International Journal of Electrical Engineering & Technology (IJEET),
Volume 3, Issue 2, 2012, pp. 223 - 235, Published by IAEME.

Simulation of Direct Torque and Flux Control Strategy For An Induction Motor

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