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This paper presents an improved direct torque control based on fuzzy logic technique. The major problem that is usually
associated with DTC drive is the high torque ripple. To overcome this problem a torque hysteresis band with variable
amplitude is proposed based on fuzzy logic. The fuzzy proposed controller is shown to be able to reducing the torque and
flux ripples and to improve performance DTC especially at low speed.
K e y w o r d s: direct torque control, induction motor, fuzzy logic, torque ripple minimization
Direct torque control (DTC) is receiving wide atten- The DTC scheme is given in Fig. 1, the εφ and εΓ
tion in the recent literature [1, 2]. DTC minimizes the use signals are delivered to two hysteresis comparators. The
of machine parameters [3, 4]. This type of control is es- corresponding digitized output variables: change of mag-
sentially a sliding mode stator flux-oriented control. The netic flux ∆φ , of mechanical torque ∆Γe and the stator
DTC uses the hysteresis band to directly control the flux flux position sector sN created a digital word, which se-
and torque of the machine. When the stator flux falls out- lects the appropriate voltage vector from the switching
side the hysteresis band, the inverter switching stator is table. The selection table generates pulses Sa , Sb , Sc , to
changed so that the flux takes an optimal path toward control the power switches in the inverter.
the desired value [3, 4]. Three-level torque and two level flux hysteresis con-
The name direct torque control is derived from the trollers are used according to the outputs of the torque
fact that on the basis of the errors between the reference controller and the sector information (Sφ ) of φs , appro-
and the estimated values of torque and flux it is possible priate voltage vectors for both the inverters are selected
to directly control the inverter states in order to reduce from a switching table as it is shown in Table 1.
the torque and flux errors within the prefixed band limits
[5, 6].
Table 1. Classical DTC switching table
The main advantages of DTC are robust and fast
torque response, no requirements for coordinate trans-
formation no requirements for PWM pulse generation Flux Torque Sector Sφ
and current regulators [7]. The major disadvantage of the ∆φ ∆Γe Sφ 1 Sφ 2 Sφ 3 Sφ 4 Sφ 5 Sφ 6
DTC drive is the steady state ripples in torque and flux. 1 1 V2 V3 V4 V5 V6 V1
The pulsations in flux and torque affect the accuracy of 1 0 V7 V0 V7 V0 V7 V0
speed estimation. It also results in higher acoustical noise 1 −1 V3 V1 V2 V3 V4 V5
and in harmonic losses [8]. −1 1 V3 V4 V5 V6 V1 V2
−1 0 V0 V7 V0 V7 V0 V7
Generally there are two methods to reduce the torque −1 −1 V5 V6 V1 V2 V3 V4
and flux ripple for the DTC drives. One is multi level in-
verter [9 ,10], the other is space vector modulation (SVM)
[11]. In the first method, the cost and the complexity will Figure 2 shows the voltage vectors which are usually
be increased, in the second method, the torque ripple and employed in DTC scheme when the stator flux vector
flux ripple can be reduced, however the switch frequency is lying in sector I. The selection of a voltage vector at
still changes [12]. each cycle period is made in order to maintain the torque
In DTC, open loop and close loop speed and position and the stator flux within the limits of two hysteresis
estimators are widely analysed in literature [13]. The im- bands [14]. This simple approach allows a quick torque
proved voltage-current model speed observers based on response to be achieved, but the steady state performance
a MRAS structure is used in this paper to estimate ro- is characterized by undesirable ripple in current, flux and
tor speed. A fuzzy controller is introduced to allow the torque. This behaviour is mainly due to the absence of
performance of DTC scheme in terms of flux and torque information about torque and rotor speed values in the
ripple to be improved. voltage selection algorithm.
∗
Laboratoire LSPIE, Département Electrotechnique, Faculté Sciences de l’Ingénieur
∗∗
Laboratoire LSPIE, Département Hygiène et sécurité industrielle, Faculté Sciences de l’Ingénieur Rue Chahid Boukhlouf, Université
de Batna, Batna (05000), Algérie, E-mail: fati zidani@lycos.com
Fig. 1. Block diagram of the induction motor drive system based on DTC scheme
e1
NH NM NS ZE PS PM PH
e2 ∆bΓ
Fig. 3. The MRAS speed estimator N N N N S ZE P S PS P
ZE N N N S ZE P S P P
P N NS N S ZE P S P P
P H : positive high, N H : negative high,
P M : positive medium, N M : negative medium,
P S : positive small, N S : negative small, ZE : zero
and MRAC technique. Figure 6 shows the speed transi- stator and rotor flux and current. In Fig. 8c, the torque
tion from 157 rd/s to 50 rd/s with rated torque load. Es- ripple is significantly reduced especially at low speed. The
timated speed follows the reference speed closely. Some fuzzy controller provides the desired amplitude according
flux oscillations can be observed. to the torque ripple level and operating condition, as
it is shown in Fig. 8a. It is seen that the steady state
B. Steady state performances with and without performances of the DTC-with fuzzy controller (Fig. 8c)
fuzzy controller is much better than of the DTC-without fuzzy controller
(Fig. 8b). For dynamic performance, the modified DTC
Figure 7 shows simulation results of the proposed ap-
is almost as good as the basic DTC.
proach at low speed (10 rd/s with rated load Γe–rated =
25 Nm), the amplitude bΓ is adapted by the fuzzy con-
troller according to operating condition, see Fig. 7a. The 5 CONCLUSION
torque ripple is significantly reduced, the flux and torque
effect on speed estimation is clearly reduced. From the
The present paper has presented a sensorless speed
stator flux trajectory, it is appreciated that the flux rip-
DTC drive with fuzzy controller. This controller determi-
ple decreases when fuzzy controller is in use.
nates the desired amplitude of torque hysteresis band. It
C. Response to a speed transition at standstill is shown that the proposed scheme results in improved
stator flux and torque responses under steady state con-
In order to show the benefits of the improved DTC, dition. The main advantage is the improvement of torque
a step change of the speed reference (from 157 rd/s to and flux ripple characteristics at low speed region, this
30 rd/s) has been applied to the control at standstill. provides an opportunity for motor operation under min-
Fig. 8b and Fig. 8c show the estimated speed, torque, imum switching loss and noise.
Journal of ELECTRICAL ENGINEERING 56, NO. 7–8, 2005 187
Fig. 7. a) Amplitude of torque hysteresis — output of fuzzy block-steady state, b) Classical DTC with fixed band hysteresis ( bΓ =
10 % Γrated ) — 10 rd/s with rated load-steady state, c) DTC with variable band hysteresis — 10 rd/s with rated load — steady state
— the value of bΓ is adapted (see figure 7a)
Fig. 8. a) Amplitude of torque hysteresis -output of fuzzy block- speed transition b) Classical DTC with prefixed band hysteresis
( bΓ = 20 % Γrated ) — speed, torque and flux transition zoom during speed deceleration with rated load c) DTC with variable band
hysteresis ( bΓ is adapted, see Fig. 8a) — speed, torque and flux transition zoom during speed deceleration with rated load
[14] CASADEI, D. et al : Improvement of Direct Torque Control [23] KANG, J. K. et al : Direct Torque Control of Induction Machine
Performance by Using a Discrete SVM Technique, in Proc. Of with Variable Amplitude Control of Flux and Torque Hysteresis
Conf. Rec. IEEE-IAS, pp. 997–1003, 1998. Bands, Conf. Rec. IEEE-IAS, pp. 640–642, 1999.
[15] MARTINS, C. et al : Switching Frequency Imposition and Rip- [24] RODRIGUES, M. et al : Fuzzy Logic Torque Ripple Reduction
ple Reduction in DTC Drives by Using a Multilevel Converter, by Turn-Off Angle Compensation for Switched Reluctances Mo-
IEEE Trans. On Power Electron. 17 No. 2 (2002), 286–297. tors, IEEE Trans. On Ind. Electronics 48 No. 3 (2001), 711–715.
[16] CASADEI, D. et al : Implementation of a Discrete Torque Con- [25] SCHAUDER, C. : Adaptive Speed Identification for Vector
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Vector Modulation, IEEE Trans. On Power Electron 15 No. 4 IEEE Trans. On. Ind. Appl. 28 No. 5 (1992), 1054–1061.
(2000), 769–777. [26] TADJIMA, H. et al : Speed Sensorless Field-Oriented Control
of the Induction Machine, IEEE trans. On. Ind. Appl. 29 No. 1
[17] KANG, J. K. et al : New Direct Torque Control of Induc-
(1993), 175–180.
tion Motor for Minimum Torque Ripple and Constant Switch-
ing Frequency, IEEE Trans. On Ind. Applicat. 35 No. 5 (1999), Received 24 February 2005
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[18] TRIPATHI, A. et al : Space-Vector Based Constant Frequency,
Fatiha Zidani was born in Batna, Algeria, in 1968. She
Direct Torque Control and Dead Beat Stator Flux Control of ac
Machines, Proc. of Conf. IEEE-IECON’01, pp. 1219–1224, 2001. received the BSc, the MSc, and the PhD degrees all in Elec-
trical Engineering, from the University of Batna, Algeria, in
[19] TANG, L. et al : A New Direct Torque Control Strategy for
Flux and Torque Ripple Reduction for Induction Motors Drive
1993, 1996 and 2003 respectively. After graduation, she joined
by Space Vector Modulation, Conf. Rec. IEEE-PESC’2001, the University of Batna, Algeria, where she is an Assistant
Vol. 2, pp. 1440–1445, 2001. Professor at the Electrical Engineering Institute. Her current
[20] TANG, L. et al : An Investigation of a Modified Direct Torque
area of research includes advanced control techniques and di-
Control Strategy for Flux and Torque Ripple Reduction for In- agnosis of electric machines and drives.
duction Machine Drive System with Fixed Switching Frequency, Rachid Naı̈t Saı̈d was born in Batna, Algeria, in 1966.
Conf. Rec. IEEE-IAS, pp. 837–844, 2002. He received the BSc, the MSc And the PhD degrees all in
[21] CASADEI, D. et al : Effects of Flux and Torque Hysteresis Health and Safety Engineering, from the University, Batna,
Band Amplitude in Direct Torque Control of Induction Ma- Algeria, in 1990, 1996 and 2004 respectively. After gradua-
chines, Conf. Rec. IEEE-IAS, pp. 299–304, 1994. tion, he joined the University of Batna, Algeria where he is
[22] VAEZ ZADEH, S. et al : Open Loop Control of Hysteresis a lecturer in the Health and safety Engineering Institute. His
Band Amplitude in Direct Torque Control of Induction Ma- current research interests include the application of fuzzy logic
chines, Conf. Rec. IEEE-IAS, pp. 1519–1524, 2000. to risk assessment and diagnosis.