Direct Torque Control of Permanent Magnet

Synchronous Motor Drive using Variable Structure

Control

Daru Anna Thomas
Department of Electrical Engineering
College of Engineering, Trivandrum
daruann28@gmail.com
Mrs.A.Lekshmi
Senior Lecturer
Department of Electrical Engineering
College of Engineering, Trivandrum


Abstract The Direct Torque Control [DTC] is a high
performance control strategy applied in motor drive
applications. A family of Variable Structure Controllers for
Permanent Magnet Synchronous Motor(PMSM)Drives is
presented, in which the principles of DTC, Variable
Structure Control[VSC] and Space Vector Modulation
[SVM] are combined to ensure high performance operation,
both under steady state and transient conditions. To
eliminate the disadvantages like high ripples and variable
switching frequency of conventional DTC, a new method
using VSC along with SVM is implemented for DTC.
Variable structure speed, torque and flux controllers with
integral operation switching surface for direct torque
controlled PMSM drives has been presented. The closed loop
models of the DTC system using Variable Structure Control
and conventional methods was simulated using
Matlab/Simulink and the results are compared.

Keywords- Direct Torque Control (DTC), Permanent
Magnet Synchronous Motor (PMSM) drives, Variable
Structure Control (VSC), torque and flux ripples.
I. INTRODUCTION
Due to smaller losses, high overall efficiency,
compact motor size and wider range of speed, PMSM is
more advantageous for speed control applications than
Induction motor. A multitude of solutions for control of
PMSM has been proposed. [1] Among them, the direct
torque and stator flux control of PMSM drives have been
developed as Direct Torque Control (DTC).
The original concept of DTC was proposed by
Takahashi and Noguchi in 1986 for application in
induction motor. Their idea was to control the stator flux
linkage and the torque directly, by selecting the voltage
space vectors [2]. L.Zhong et al discussed the
implementation of DTC in PMSM drives. Recently,
PMSM drives have received increasing interest in robot
control and industrial applications. In such a motor control
system, the values of torque and flux linkage are the key
variables to influence the system performance.
The DTC yields fast dynamic response and high
performance without dq-axis current controllers,
associated co-ordinate transformations, the rotor position
sensor requirement and separate voltage pulse width
modulators. However DTC has got some drawbacks like
high torque, flux and current ripples, variable switching
frequency behavior and difficulty to control torque and
flux at very low speeds [3].
To improve the performance of the classical DTC,
different solutions can be categorized into following
groups. The first group includes multilevel inverters [4],in
which more control voltage space vectors can be generated
to reduce torque and flux ripples. As this is hardware
related, more power switches are needed, the system cost
and complexity increases. In the second group, an
improvement of switching table was proposed. But
experimentally no significant improvement was achieved
in the reduction of torque and flux ripples. The third group
involves predictive algorithms to calculate the most
appropriate voltage space vectors to minimize the torque
and flux errors. Some modified DTC schemes based on
SVM with fixed switching frequency and low ripples were
reported. But the PI controllers employed are sensitive to
changes of motor parameters, speed and load. These
exhibit a lag phenomenon in the response for certain
frequencies. [3]
The VSC is an effective, high frequency switching
control strategy for nonlinear system with
uncertainties[5].It features good robustness and fast
dynamic response.
This paper presents a comparison of the closed
loop DTC of a PMSM drive system using variable
structure and PI controllers. The inputs to the controllers
are speed error, torque error and flux error. The closed
loop models of the system were simulated using
Matlab/Simulink and the results are compared. The
switching frequency is constant and is controllable using
SVM techniques. SVM is a strategy to produce multiple
voltage space vectors during a sampling interval.
II. PMSM DRIVE SYSTEM
The mathematical model of PMSM is derived from
the following equations.
( )
q s q r d d f q q
V =R i + L i + +pL i (1)

10th National Conference on Technological Trends (NCTT09) 6-7 Nov 2009
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( )
d s d r q q d d f
V =R i - L i +p L i + (2)
q q q
=L i (3)
=
d d d m f
L i +L i (4)

( )
e f q d q d q
3
T= p[i + L -L i i ]
2
(5)
where d V & q V are voltages,
d
i &
q
i are the
currents,
d
L &
q
L are the inductances, ,
d
&
q
are the
flux linkages of the d and q axes respectively, p is the
number of pole pairs ,
f
is the rotor flux linkage,
r
is
the rotor speed in electrical rad/sec.
e
T is the
electromagnetic torque.
The mechanical equation is described as
m
e m L
d
T =T +B +J
dt
(6)

m r
2
=
p
| |
|
\
(7)
B and J denotes the viscous friction coefficient and inertia
constant of the motor respectively.
L
T is the load torque
and
m
is the rotor speed in mechanical rad/sec.
In an ideal condition, the rotor flux linkage is constant,
and
d q
L =L (8)
Substituting (8) in (5), the electromagnetic torque
equation can be written as

e t q
T =K i (9)
where
t f
3
K = p
2
(10)
The mechanical equation can be rewritten as
m
m t q L
d
K i =T +B +J
dt
(11)
III. DTC OVERVIEW

The principle of DTC is the simultaneous and
decoupled control of torque and stator flux that can be
achieved by the direct adjustment of the stator voltage, in
accordance with the torque and flux errors, without current
control and/or decoupling networks. The basic DTC
scheme is indicated in Fig.1.

Figure 1. Block diagram of basic DTC
Classic DTC uses torque and flux hysteresis controllers
and a switching table that generates the voltage source
inverter [VSI] switching signals. On the basis of the torque
and flux errors, the voltage vector is determined so as to
rapidly reduce these errors and to maintain them within
prefixed limits. Application of this scheme results in large
torque, flux and current ripple and variable switching
frequency.
In the stator flux control, the stator voltage
s
V is
given by
s
s s s
d
V =R i +
dt
(12)
Neglecting stator ohmic losses,
s
s
s s s
d
V =
dt
=V
(13)
e s f
T sin (14)
where is the angle between the rotor flux and stator flux
and
s
T is the sampling time. The flux control is based on
eqn. (13).In this case, the stator voltage
s
V controls the
flux magnitude. Thus, selecting an adequate sequence of
voltage vectors it is possible to drive the flux vector along
a desired trajectory and, at the same time to control the
developed torque. Due to slower rotor dynamics, the stator
flux vector will change the load angle . Hence the stator
voltage vector can be used to manipulate the load angle,
since the stator flux vector is the time integral of stator
voltage vector. Therefore torque can be controlled by
varying and hence by applying stator voltage vectors.
Torque control is given by eqn. (14).


Figure 2. Classic DTC principle

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The DTC principle, as implemented by the switching
table, is illustrated in Fig. 2. This shows the stator and
rotor ux vectors, and two inverter voltage vectors
1
V and
2
V . For instance, the stator ux vector is located
within the rst sector. Taking the stator ux
s
as
reference, the torque increases if voltage vectors with
positive quadrature component are applied,
2
V or
3
V in
this case. The torque decreases if zero vectors, or vectors
with negative-quadrature component are applied
(
5
V or
6
V ). The ux magnitude increases if vectors with
positive direct component are applied (
2
V or
6
V ), and
decreases if vectors with negative direct component are
applied (
3
V or
5
V ). The same reasoning is extended for
all six sectors.
The standard DTC for Permanent Magnet motors is a
hysteresis bang-bang control by single full voltage vector
and hence gives high chattering in the torque and ux. One
method of avoiding this problem is the use of a variable
structure controller with the DTC. This new control
approach is described and evaluated in the next section.
IV. VARIABLE STRUCTURE CONTROL SCHEME
The variable structure control strategy is based on the
design of discontinuous control signal that drives the
system states towards special manifolds in the state space
[1]. The VSC is known to have excellent robustness
properties over a specified magnitude range of modeling
uncertainties and disturbances.
In this paper based on standard DTC concept, variable
structure controller for speed, direct torque and stator flux
regulation is presented. Block diagram representation of
the PMSM drive with VSC is shown in Fig.3.

Fig. 3. Block diagram representation of the PMSM drive with VSC
The outer loop contains a variable structure speed
controller which produces the reference torque command
for the torque controller. The inner loop includes variable
structure DTC controller which calculates the most
appropriate stator voltage vectors to drive the torque and
ux to track their references. The control stator voltage
signals have been limited before proceeding to SVM
module. Space vector modulation provides a solution for
high resolution control and constant inverter switching
frequency.


The control strategy has more advantages over the
DTC. In DTC scheme, the voltage vector selected by the
switching table might be correct at the sampling instant,
but not proper during the whole sampling interval. A
consequence is the unwanted chattering of torque and
ux, unless the sampling period is small enough. Another
problem of the classical DTC is that large and small errors
in torque and ux are not distinguished. In other words,
the switching table based DTC always applies full voltage
vectors both during transient and in steady state regardless
of large and small errors in torque and ux. The proposed
control scheme predicts the most appropriate voltage
vector which is adaptive to error amplitudes, i.e., small
errors will be compensated by small voltage vectors and
not driven by full voltage vectors. The switching vector is
generated by symmetric SVM module [1]. More voltage
vectors are applied during each sampling interval which is
divided into more sub-intervals. This increases control
resolution and reduces torque and ux ripples greatly.
A. Variable Structure Speed Controller
A sliding mode speed controller has to be designed with
some features that allow the effect of the impact load
disturbance and the variation of system parameters on the
controlled dynamics to be eliminated.
The rotor mechanical speed equation can be written as

t q L
B 1 1
= - + Ki - T
J J J
(15)
Considering (15) with uncertainties
( ) ( )

q L
t
= a+a + b+b i +dT
Where
K B 1
a = - ; b = ;d = -
J J J
(16)
a and b are denoted as the uncertainties introduced by
the system parameters J, B and K
t
.
The state variable of speed error can be defined as
( )
*
x t =- (17)
*
is the speed reference.
1) Sliding surface
A new switching surface for the speed controller with
integral component, which possess the exponential
stability is designed as
( ) ( ) ( ) ( )
t
0
s t =x t - a+bk x d

(18)
Where k is a linear feedback gain.
2) Variable Structure Control law
A switching control function based on the developed
switching surface has to be designed, that guarantees the
existence of sliding mode. The control function is
( ) ( ) ( )
q q1 qsw
i t =i t +i t (19)
( )
q1
i t is called the equivalent control and is defined
as the solution of the problem ( )

s t =0.


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Under
L
T =0,a=0,b=0
( ) ( )
*
q1
a
i t =kx t -
b
(20)
( )
qsw
i t is used to eliminate the influence due to the
plant parameter change in a , band the external
disturbance
L
T to guarantee the existence of a sliding
mode.
( ) ( )
qsw 1
i t = -k sign s (21)
1
k is a positive constant and it is designed as the
upper boundary of the lumped uncertainty ( ) e t .
( )
q L
a b d
e t = + i + T
b b b
(22)

( )
t
e t k (23)
The control function can be rewritten as
( ) ( ) ( )
*
q 1
a
i t =kx t - -k sign s
b
(24)
For the existence of the variable structure speed
controller, the below condition is to be satisfied.
( ) ( )

s t s t 0 (25)
B. Variable Structure Torque and Flux Controller
The variable structure torque and the flux controller is
designed to generate the stator voltage command for SVM
modulator.
1) Sliding surface
The control objectives are to track desired torque and
flux trajectories. The sliding surfaces are in the integral
forms.

[ ]
T
1 2
S= S S (26)
( ) ( ) ( )
t
1 T T T T
0
S = t +K d- 0

(27)
( ) ( ) ( )
t
2
0
S = t +K d- 0

(28)
where
T
=
*
e e
T -T ;
*

= -

K and
T
K are positive control gains.
The manifold S
1
=0 represents the torque regulation, S
2
=0
represents the tracking of the square of flux magnitude.
When the system states have reached the sliding manifold
and stay on the surface, then S
1
= S
2
= S
1
.
= S
2
.
= 0.
2) Variable Structure Control law
The control law is designed to drive the state trajectory to
the intersection of the above switching surfaces. The
switching control law is defined as


d 1 1 -1
q 2 2
v 0 sign(S )
= -D
v 0 sign(S )
( ( (
( ( (

(29)
1
and
2
are positive control gains.
q
d
q d
d d
d q

3 3
- p i - - p -i
2 L 2 L D=
-2 -2
(
| | | |
( | |
\ \
(
(

(30)
A Lyapunov approach is used for deriving conditions on
the control law.
T
1
V= S .S 0
2
(31)
For the stability of the switching surface

V 0 condition is to be satisfied. For that

1 1 2 2
F ; F

( ) ( )
d q d q q q
d d
1 d r q r T T
d d d d d d q d
L- L L - L Ri e
Ri e - 3
F= p - - - - - - + K
2 Li L L L Li L
| | | | | |
| | |
| | |
\ \ \
(32)
2 d d q q
F=K +2 Ri +2 Ri
(33)
C. Remedy for Chattering Problem
An undesirable phenomenon of oscillations having
finite frequency and amplitude is known as chattering.
Chattering is a harmful phenomenon because it leads to
low control accuracy, high wear of moving mechanical
parts and high heat losses in power circuits. This problem
can be remedied by replacing the switching function by a
continuous function in the sliding surfaces.

1) VSC Speed Controller
For the variable structure speed controller,
discontinuous sign function sign(s) can be replaced by a
proper continuous function m(s).
( )
s
m s =
s +

(34)
Where is a position constant. However, under different
operating conditions, the continuous function with a
constant may not effectively eliminate the chattering
phenomena. To improve the result, is chosen as a
function of
( )
x t as:
( )
0 1
= + x t (35)
where
0
and
1
are positive constants. Then the
modified proper continuous function is given as
( )
( )
( )
0 1
s
N s =
s + + x t

(36)
and the modified control law of VSC speed controller is

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( ) ( )
( )
( )
*
q 1
0 1
a s
i t =kx t - -k
b
s + + x t
| |
|
|

\
(37)

2) VSC Torque and Flux Controller
( )
i i
i i i
i
i i
i
1, if S
sign S = -1, if S -
S
, if S

`



)

(38)
where
i
0 ,is a smoothing factor and i=1,2.

V. SIMULATION RESULTS AND DISCUSSION
Simulation work has been performed to examine
control algorithms of the classical DTC and variable
structure DTC. MATLAB/SIMULINK models are
constructed for conventional DTC and variable structure
DTC of PMSM drive as shown in Fig.4.The whole system
consists of torque and flux estimator block, torque, flux
and speed VS Controller, inverter and
PMSM.

Fig 4 Simulink diagram of VSC DTC

The variation of electromagnetic torque with
time is as shown in Fig.5. The load torque is given as 5
N-m. In the conventional DTC, the torque waveform has
many ripples, and it attains steady state after 1 second.
But in the VS-DTC, the ripples are much reduced and
steady state response is attained at 0.6 second. The state
response is faster compared to classic DTC.


(a) Conventional DTC
















(b) VSC DTC

Figure 5. Variation of electromagnetic torque with time.


Fig. 6 shows the variation of flux with time. It can be
seen that the flux waveform of the conventional DTC has
more ripples. In the VS-DTC, there is a high reduction in
the ripples. The flux value is 0.79 Wb. This smooth flux
enables the system to have a good start which results in a
better performance.

(a) Conventional DTC


(b) VSC DTC

Fig 6. Variation of Stator Flux with time

The reference speed setting is given as 300
radians/sec. Fig.7 shows that the reference speed is
achieved earlier and the speed response is smoother using
VS-DTC than conventional DTC.

(a) Conventional DTC





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(b) VSC DTC

Fig 7. Variation of Rotor Speed with time

The ripples in the current waveform also reduced
significantly using VS-DTC as shown in Fig.8. By using
space vector modulation, the switching frequency of
variable structure DTC is 5 kHz and it is same as control
sampling frequency, is xed and is independent of the load
torque and rotor speed. In the steady state, the proposed
drive shows very good performance and the extended EMF
exhibits very smooth sinusoidal waveform.

(a) Conventional DTC

(b) VSC DTC

Fig 8. Variation of Stator Current with time
VI. CONCLUSIONS
A variable structure controller has been presented for
speed, direct torque and stator flux control of a PMSM
drive and is compared with the conventional DTC. It
integrates the DTC with VSC in a high performance drive
and employs the SVM for ripple reduction and constant
frequency operation. A merit of SVM strategy is that a
sequence of six voltage vectors is applied during the same
time. This method offers very good speed control



performance. The effectiveness of this method has been
proven by simulation results. The VS-DTC features:
The fastest theoretical torque and ux responses.
No current regulator.
Signicant reduction in torque and ux ripples.
Use of space vector modulation leading to a
constant switching frequency.
It is concluded that the VS-DTC topology produces better
results for both dynamic and steady state operation than
the conventional DTC.
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