Simulation Study on DTC Based Induction Motor
Drives using MATLAB
Pradeep Ranjan Tripathy1 and Bibhu Prasad Panigrahi2
1. Pradeep Ranjan Tripathy presently working as Assistant Prof. in Electrical Engineering Department of Kalinga
Polytechnic, KIIT, Bhubaneswar (ORISSA) email: pradeeptrip@gmail.com
2. Dr. Bibhu Prasad Panigrahi presently working as Assistant Professor in Electrical Engineering Department of Indira
Gandhi Institute of Technology, Sarang, Dhenkanal (ORISSA) email: bibhu89@yahoo.com
Abstract- The paper presents the simulation study of a low
cost switching table based DTC scheme to be implemented using
discrete electronic component. The simulation is carried out to
control the torque and speed of 3-phase induction motor in
forward and reverse motoring operation, allowing higher PWM
switching frequency of the inverter. The simulation study is
performed using SIMULINK environment of MATLAB 6.5
software.
I. INTRODUCTION
Conventional AC drives are not capable to provide a fast
and smooth variation in speed that is required for servo drive
applications in small scale packaging industries etc. Though
DC motor is able to provide desired performance, its
maintenance and unsafe in explosive environment restricts its
use. In 1970s, FOC scheme proved success for torque and
speed control of induction motor [1]. Decoupling of two
components of stator currents (flux and torque producing
components) is achieved as DC machines to provide
independent torque control. Hence the scheme proves itself
superior to the DC machine.
The problem faced by FOC scheme is complexity in its
implementation due to dependence of machine parameters,
reference frame transformation. A current source inverter is
used to realize the current patterns in the stationary reference
frame. Above method requires high cost PC or DSP to
perform online computations.
DTC was introduced in 1980s. The method requires only
the stator resistance to estimate the stator flux and torque.
Reference frame transformation is not necessary as in FOC
scheme. It is less sensitive to parameter variation.
The idea of torque control in DTC or DSC scheme [2,3]
is to increase the torque angle (angle between stator flux and
rotor flux) in case torque output needs to be increased. The
reverse is performed to decrease the torque. But the stator-
linked flux is kept intact at the desired magnitude. The
change in the torque angle is performed by acceleration or
deceleration of the angular speed of the stator linked flux
vector, by application of the suitable voltage vector using
voltage source inverter.
The flux linking to rotor changes simultaneously with the
change in stator flux. But a time lag occurs between the
changing rotor flux and change in the rotor current, due to
time constant of the rotor circuit.
Thus the rotor flux that is proportional to the rotor
current does not change as fast as the stator flux. Thus the
978-1-4244-2746-8/08/$25.002008 IEEE
torque angle can be increased or decreased with acceleration and
deceleration of the rotating stator linked flux vector. So control
is achieved over the torque developed by motor.
In DTC scheme stator side terminal voltage and rotor input
currents are sensed. The three phase terminals quantities are
converted to two-phase stationary d-q components and motor
torque, stator linked flux are estimated. Based on the resultant
flux position and the errors in flux magnitude and torque, a
three-dimensional look up table is referred to decide the inverter
switching. The process is implemented through PC or DSP.
In spite of the advantages of digital control drives in terms
of flexibility, their increased cost limits its use in small-scale
sectors. Due to the interfacing A/D and D/A converter to
processor, delay is caused in program execution. It causes
limitation of achievable PWM frequency and ripple in the motor
flux, current and torque that may not be brought down below
certain limits [5-10]. To achieve higher PWM frequency high-
speed processor with multiple A/D converter are required to be
implemented, which leads to higher cost.
The low cost analog DTC control circuit is implemented
using discrete electronic components for three-phase induction
motor to perform single quadrant operation [4,5]. The scheme
provides the hardware implementation of DTC switching table
using six control signals as input and eight voltage vectors as
output. Present work in this simulation study aims to implement
the hard ware scheme for DTC of three phase induction motor to
control speed and torque in forward and reverse motoring
operation.
II. PRINCIPLE OF ST_DTC
DTC scheme is categorized as switching table DTC, SVM
DTC, DTC using discrete SVM, DTC using Fuzzy controller [2-
10]. Basically in switching table based DTC scheme [4-5] the
motor terminal voltage and line currents are measured and
transformed from 3-phase to d-q stationary reference frame
(Fig.1). The transformed terminal voltages are compensated for
the stator resistance drop. Then the resultant induced emfs are
integrated to get the flux components ds and qs in d-q axis.
The developed torque of the motor is computed from these d-q
axis flux and current components. It is compared with its
reference value to get the torque error logic state (ST).
Similarly the absolute flux (resultant of d-q axis flux) is
compared with the reference flux to get the flux error logic state
(S). The air gap space plane is divided into six sectors, each
spread with 600. The sector or instantaneous angular position of
the stator flux in space (S) is determined as in Table I. Signal A
denotes 1 when absolute value of the ratio (qs/ds) is greater
than or equal to tan600, otherwise it is 0. Digit 0denotes
 Fig. 2. Stator d-q flux vs time

Fig.1. Block diagram for DTC scheme to drive 3-phase Induction Motor

negative sign and digit 1 denotes positive sign. The three

logic states through DTC switching table select the
instantaneous switching voltage vector. (Table II)
TABLE I
Sector determination

ds qs A S
0 0 0 <5>
0 0 1 <4>
0 1 0 <6>
0 1 1 <1>
1 0 0 <3>
1 0 1 <4>
1 1 0 <2>
1 1 1 <1>

TABLE II
Fig. 3. ds Vs. qs plotting
DTC switching table
S ST S
<1> <2> <3> <4> <5> <6>
1 1 110 100 101 001 011 010
1 0 111 000 111 000 111 000 Fig-2 shows the d and q axes stator fluxes. The fluxes are
1 -1 101 001 011 010 110 100
0 1 010 110 100 101 001 011
sinusoidal and d-axis component leads q-axis component of flux
0 0 000 111 000 111 000 111 in forward motoring condition. As the speed command changes
0 -1 001 011 010 110 100 101 at 0.1 second, the phase relation of flux reverses. Again at 0.19
second, phase relation of flux returns back to the initial state.
The plotting between d and q axis flux shows that the stator flux
III. SIMULATION STUDY OF DTC SCHEME is maintained at constant magnitude in all condition of motor
operation. Due to quadrature relation of both the fluxes the X-Y
The simulation is performed for two quadrant of operation plotting is circular in shape (Fig3). Though the frequency of
for a three-phase induction motor of 0.435 stator resistance the stator flux components changes in tune with rotor speed, the
in SIMULINK environment. The reference torque is resultant flux magnitude remains constant. The constant resultant
generated from a PI controller, with rotor speed feedback. flux magnitude is 0.56 weber here.
The desired speed profile is provided as speed command. The The step speed command input is compared with feed back
speed error being processed in PI controller generates the rotor speed. The PI controller deduces the torque reference from
reference torque. The rated flux of the machine is used as the given speed profile. The speed profile is set as 1440 rpm at 0
flux reference for operation in rated and below rated speed. second and it falls to - 20% of rated speed at 0.1 second as a step
The torque error and flux errors are compared in their command and at 0.19 second the speed profile is again stepped
respective defined hysterisis band to generate the respective back to initial speed. The rotor speed responses in rise and fall
logic states as ST and S. The sector determination logic state conditions corresponding to step speed input profile.
S is used as the third controlling signal for referring the DTC The rotor speed responds to the command in 0.052 second in
switching table. These three controlling signals are used to rising mode and during falling mode it responds within 0.009
determine the instantaneous inverter switching voltage vector second as referred to Fig-4 (a) and (b). Thus the speed response
from three-dimensional DTC switching lookup table. The is observed to be quite fast in falling mode. In comparison to
simulation results are illustrated as follows. speed, the torque response is quite fast.
 Fig. 4 (a). Super imposed Rotor Speed and Command in falling mode Vs.
Time
Fig. 4(b). Super imposed Rotor Speed and Command in rising mode Vs.
Time
Fig. 5 (a). Super imposed Reference Torque and Electro magnetic Torque in
Falling mode Vs.Time
Fig. 5 (b). Super imposed Reference Torque and Electro magnetic Torque in
rising mode Vs.Time
It is seen that the torque produced by the motor is closely
following to the reference. The time lag between the
responses to the reference is studied in figures 5(a) and (b). In
falling and rising mode the torque tunes with its reference in
0.0001second.
Fig-6(a) and (b) show the stator current responses in 3-
phase and 2-axis system. The current drawn by the motor in
steady state condition of forward motoring is 12 amperes.
The frequency of the stator currents changes in tune with
the rotor speed. In first stage the frequency is 50 Hz, and
reduces to 12.57 Hz as the machine slows down.
As the torque reduces to -20% of its rated value, the
magnitude of stator current reduces, where as the flux
remains constant. Since the machine gains the reverse speed,
the stator current phase sequence is changed. The two-axis
current shows the 90-degree leading of Id to Iq in motoring
mode, whose reverse is seen in reverse motoring operation
Fig. 6 (a). Stator current Vs. time
(b). Ids & Iqs Vs. time
Fig.7. Id Vs. Iq plot
Fig.8. Control signal, S Vs. Time
The X-Y plot for Ids versus Iqs is shown in Fig-7. The curve
rotates in clockwise direction. Further in reverse motoring
condition (20% of rated speed), the motor draws less current but
rotates in anti-clock wise direction.
Fig-8 shows the intermediate control signal S. The sector plot
shows the dwell time of stator flux in each of the six space
vectors. As the angular speed of the stator flux increases the
dwell time reduces.
Further the direction of flux rotation changes, as the motor
attains the reverse motoring mode. In the expanded figure Fig-9
the intermediate control signals show that torque signal ST varies
between 1, 0 and -1, where the flux signal S varies between 0
and 1 and the sector is dwelling in sector 5 for present case.
Above three intermediate signals are used to determine the
instantaneous inverter switching voltage vector from DTC
switching 3-dimensional lookup table.

Fig.9. Control signals, ST, S & S Vs. Time
IV. CONCLUSION
The simulation study shows the satisfactory results for
speed control of a three phase Induction Motor, following the
DTC switching table scheme. The same can be realized by
hardware implementation using low cost discrete electronic
components. The proposed hardware scheme may be
economical for control of low and medium rating induction
motors used in small-scale industries.
APPENDIX
Induction motor parameters: -
3hp, 220Volt, 12 A, 50 Hz, Single Cage type motor,
Rs = 0.435 ohm, Lls = 2 mH, Rr = 0.816 ohm, Llr =2 mH,
Lm = 69.31mH, J = 0. 00089 kg - m2.
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