AbstractThis paper proposes a control method suitable

for limited armature voltage and current in a permanent-

magnet synchronous motor drive system based on direct
torque control. First, this paper proposes torque-limiting
and flux-weakening control that is suitable for a direct
torque control based motor drive system. The proposed
method utilizes a mathematical model in a rotating
reference frame synchronized to the stator flux linkage.
Second, this paper proposes an anti-windup scheme for the
torque controller of the direct torque control system. Wind-
up of the controller degrades the performances of torque-
limiting (current-limiting) control and of torque control.
Applying the anti-windup results, improves the
performance of the proposed torque limiting method in the
transient state. This paper presents a direct torque control
based drive system combined with a speed controller. The
proposed system can achieve stable control, and its
effectiveness is confirmed experimentally.
Index Termsanti-windup, direct torque control,
permanent-magnet synchronous motor, wide-speed range
operation
I. INTRODUCTION
Direct torque controlled permanent-magnet
synchronous motor (PMSM) drive systems have several
advantages. For example, an accurate motor model is not
required to estimate the torque and the stator flux linkage
[1],[2]. In addition, no rotor position sensor is needed
because direct torque control (DTC) operates in a
stationary reference frame [3],[4].
Optimal controls, such as maximum torque per ampere
(MTPA) control and flux-weakening (FW) control, and
voltage and current limitations are important for high-
performance motor drives [5]. A DTC system can achieve
optimal control by providing the reference torque and the
reference flux based on the operating conditions.
However, in most cases, DTC-based motor drives utilize
control laws based on a mathematical model in the
rotating dq reference frame, which is synchronized to
the rotor magnet [6][8]. Thus, it is necessary to calculate
the d- and q-axis currents to determine the relationship
between the torque and the flux. In addition, motor
parameters, such as the inductance and magnet flux, are
required for these controls.
A control law based on the mathematical model in the
dq frame does not appear to be suitable for DTC and
flux-oriented control. It is expected to be possible to
derive a simple expression for the control law by using a
novel mathematical model. Several studies have
investigated the control laws defined in a rotating
reference frame that is synchronized with the stator flux
linkage [9][11]. In [9], a control method is proposed for
the flux and the current component orthogonal to the flux.
In [10] and [11], a control method for the flux and the
torque is proposed, and torque limiting utilizes the
reactive torque, which is calculated by taking the product
of the flux and the current.
The present paper proposes a novel method for
calculating the reference torque and the reference flux
that are suitable for DTC-based motor drive systems. The
proposed method consists of torque limiting that is
capable of current limiting and FW control for limiting
the voltage. These control laws are derived from
mathematical equations in a rotating reference frame that
is synchronized to the stator flux linkage. The proposed
method has several advantages including simplicity of
calculation and insensitivity to parameter variation
because it does not require the values of the magnet flux
and inductance.
This paper also proposes an anti-windup scheme for
the torque controller of a DTC system that is based on
proportional and integral (PI) control. Wind-up of the
controller generally occurs when the terminal output
voltage of the inverter is saturated. Wind-up degrades the
performances of torque-limiting (current-limiting) control
and torque control. In the proposed anti-windup scheme,
the controller gain is changed according to the degree of
voltage saturation, which is detected using the estimated
flux linkage. Consequently, the proposed torque-limiting
method is confirmed to be valid for both steady and
transient states.
This paper proposes a DTC drive system combined
with a speed controller and the effectiveness of the
proposed method is confirmed from experimental results.
II. DTCMOTOR DRIVE SYSTEM
Fig. 1 shows a block diagram of the direct torque
controlled PMSM drive system. This system is equipped
with a speed controller based on PI control. The DTC
system requires appropriate reference values for the
torque and the stator flux linkage for high-performance
control.
Control Method Suitable for Direct Torque
Control Based Motor Drive System Satisfying
Voltage and Current Limitations
Y. Inoue*, S. Morimoto*, and M. Sanada*
* Osaka Prefecture University, 1-1 Gakuencho, Naka-ku, Sakai, Osaka 599-8531, JAPAN
3000
The 2010 International Power Electronics Conference
978-1-4244-5393-1/10/$26.00 2010 IEEE
The DTC system is based on control of the stator flux
linkage, which is estimated using the following equations
[1][4], [6], [7].

=
=
}
}
dt i R v
dt i R v
a
a
) (
) (
| | |
o o o

(1)
2 2

| o
+ + =
s
(2)
( )
o |
u tan

1
=
s
(3)
Here v
o
and v
|
are the armature voltages, i
o
and i
|
are the
armature currents in the stationary o| reference frame,
R
a
is the armature resistance,
o
+

and
|
+

are
respectively the o- and |-axis components of the
estimated stator flux linkage,
s
+

is the estimated stator

flux linkage, and
s
u

is the estimated position of the stator

flux linkage in the o| frame.
It is generally difficult for inverter-fed motor drives to
measure the armature voltages in the motor terminals (v
o
and v
|
). Instead, the reference voltages (v
o
*
and v
|
*
) are
used to estimate the flux, as shown in Fig. 1.
Various compositions of the torque and flux controller
shown in Fig. 1 have been proposed (e.g., [1][4]). The
DTC method used to evaluate the method proposed in
this paper is described in Section IV.
III. CONTROL METHOD OF TORQUE AND FLUX
A. Mathematical Model in ft Frame
Fig. 2 illustrates the vector diagram and coordinate
axes under steady-state operating conditions. The o|
reference frame is a stationary reference frame, whereas
the dq reference frame is a rotating frame that is
synchronized to the rotor. The o-axis corresponds to the
direction of the u-phase of the stator windings, and the d-
axis corresponds to the direction of the stator flux linkage
of the rotor magnet (+
a
). The ft reference frame is a
rotating reference frame that is synchronized to the stator
flux-linkage vector (
s
). The angle u
s
indicates the
position of the stator flux-linkage vector.
In the steady state, the voltage equation of the PMSM
in the ft frame is given by
(

+
(

=
(

s t
f
a
t
f
i
i
R
v
v
+ e
0
(4)
where v
f
and v
t
are the armature voltages, i
f
and i
t
are the
armature currents in the ft frame, and e is the electrical
rotor angular velocity.
The electromagnetic torque is given by
t s n e
i P T + = (5)
where P
n
is the number of pole pairs.
B. Calculator of Reference Torque and Reference Flux
Fig. 3 shows the proposed reference torque and
reference flux calculator. In this study, the torque limiting
required for current limitation and the flux weakening
required for voltage limitation are implemented as
limiters. The control laws for torque limiting and flux
weakening are obtained using equations in the ft frame,
as described later. However, for MTPA control only, the
relationship between the torque and the flux is calculated
from equations in the dq frame. The control law for
MTPA control [5] is given by
Te
*
+s
*
+

DTC System
e
T

s
u

iu
vu
iw
Inverter
vv vw
PMSM
Torque and Flux Controller
(Fig. 4)
Flux Estimation
Eqs. (1)-(3)
vo
*
v|
*
io
i|
Ref. Flux
Ref. Torque
+

Aem
PI
em
*
em
Speed
Controller
Tref
Ref.
Speed
Rotor speed
u, w
to
o, |
Reference
Calculator
(Fig. 3)
Gate signals
o, |
to f, t
t s n e
i P T +

=
s
+

m n
P e e =
e
if
it
ATe
Fig. 1. DTC PMSM drive system.
o
|
s
u
s

f
t
d
d
i
d
L
q
q
i
q
L
a
i
f
i
d
i
q
i
t
i
a

Fig. 2. Vector diagram of PMSM and coordinate axes.

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The 2010 International Power Electronics Conference
2
2
2
) ( 4 ) ( 2
q
d q
a
d q
a
d
i
L L L L
i +

=
+ +
(6)
where i
d
and i
q
are respectively the d- and q-axis currents,
+
a
is the stator flux linkage due to the rotor magnet, and
L
d
and L
q
are respectively the d- and q-axis inductances.
The relationship between the torque and the flux can
be calculated using (7)(9) to satisfy (6).
(

=
(

q
d
q
d
q
d
i
i
L
L
0
0

(7)
2 2
q d s
+ + = (8)
) (
d q q d n e
i i P T = (9)
Since this calculation for MTPA control is
complicated, a look-up table (LUT) is used in Fig. 3.
C. Torque Limiting
The torque is restricted to satisfy the current limiting,
which is determined by the capabilities of the inverter
and the motor. For interior permanent-magnet
synchronous motors (IPMSMs), which can utilize the
reluctance torque, the relationship between the torque and
the current is nonlinear, and so deriving this relationship
is complicated. However, the limiting torque in the ft
frame can be calculated using (5) as follows:
tm s n lim
i P T + = (10)
where i
tm
is the limiting value of the t-axis current. When
the limiting current is I
am
, i
tm
is given by
2 2
f am tm
i I i = . (11)
In [10] and [11], the limiting torque is calculated using
(12):
2 2
) (
r am s n lim
T I P T = + (12)
where T
r
is termed the reactive torque and is defined by
f s n r
i P T + = . (13)
Substituting (13) into (12) gives control laws that are
equivalent to (10) and (12).
D. Flux-weakening Control
In contrast to the conventional control method in the
dq frame, it is easy for a DTC system to accomplish FW
control because DTC directly controls the stator flux
linkage. The proposed system uses a FW control method
to maintain the armature voltage V
a
at its limiting value
V
am
. The proposed method is derived from the voltage
equation in the ft frame.
Using
2 2
t f a
v v V + = , and solving (4) for the variable
+
s
yields the stator flux linkage +
s-FW
for the case when
V
a
= V
am
, as follows:
)
`

+ =

2 2
) (
1
f a am t a FW s
i R V i R
e
+ . (14)
IV. ANTI-WINDUP SCHEME OF TORQUE CONTROLLER
This study adopts a DTC method using a reference
flux vector calculator (referred to hereafter as RFVC
DTC) [3],[4],[7]. The torque and flux controller used by
this method is depicted in Fig. 4. The RFVC DTC system
has several advantages including a fixed switching
frequency and a low torque ripple.
The RFVC DTC system has a PI controller for torque
control. Wind-up of the PI controller generally occurs
when the terminal output voltage of the inverter is
saturated. The performance of the current limitation
based on torque limiting depends on the response
characteristic of the torque control system. This paper
proposes an anti-windup scheme for the torque controller.
Fig. 5 shows a vector diagram for voltage saturation.
Here, the voltage drop in the resistance is neglected.
] [ k
s
is the vector of the estimated stator flux linkage. In
the DTC system, this vector is controlled to obtain the
torque and the flux based on the reference values. ] [
*
k
s

is the reference vector of the stator flux linkage, and it

corresponds to the reference flux (+
s
*
) and the reference
position (u
s
*
), which are shown in Fig. 4. In the RFVC
DTC system, the reference voltage calculation is based on
time subtraction of the flux. Hence, the desired armature
voltage is
s s s
t k k / ]) [ ] [ (
*
, where t
s
is the sampling
+s
*
ATe
s
u

s
+

Aus
*
PI
us
*
+
+
o, |
to
u, v, w
vu
*
vv
*
vw
*
Reference
Voltage Vector
Calculator
vo
*
v|
*
io i|
Ref. Flux
Torque
Controller
PWM
Circuit
Torque Error
Gate Signals
This limiter restricts reference voltage to
available voltage of the inverter.
Fig. 4. Torque and flux controller for RFVC DTC (PI controller-based
DTC).
Te
*
+s
*
MTPA LUT
(Based on Eq. (6))
Tlim: Eq. (10)
+s-MTPA
Tref
Tlim
Torque Limiter
Tlim
+s-FW: Eq. (14)
Flux Weakening
+s-FW
Ref. Flux
Ref. Torque
s
+

if
it
e
Fig. 3. Proposed calculator for reference torque and reference flux.
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The 2010 International Power Electronics Conference
period. In Fig. 5, the desired voltage vector exceeds the
voltage-limiting circle, which corresponds to the
maximum available voltage of the inverter. Thus, voltage
saturation occurs and v
*
[k] is the actual voltage vector
applied to the motor. In the torque and flux controller
shown in Fig. 4, the reference voltage vector v
*
[k] is
generated in the reference voltage vector calculator, and
then voltage limiting according to the available output
voltage of the inverter is applied.
The estimated vector of the stator flux linkage in the
next control period is ] 1 [ + k
s
. When voltage saturation
occurs, the estimated position ] 1 [

+ k
s
u differs from the
reference position ] [
*
k
s
u , as shown in Fig. 5. The angular
difference between the reference position and the
estimated position of the stator flux linkage is defined by
] [

] 1 [
*
k k
s s
u u u
c
= . (15)
An anti-windup scheme utilizing the value u
c
is
proposed to improve the torque control performance. Fig.
6 shows the modified PI controller with anti-windup. In
the proposed anti-windup scheme, the gain of the integral
element is varied according to the variable
i
.
Consequently, the input quantity to the integrator
becomes suppressed. The variable
i
should have a value
of unity for an angular difference u
c
of zero. It should
also approach zero as u
c
increases. A function that
satisfies these conditions is given by
| | 1
1
c
u

a
i
K +
= (16)
where K
a
is the anti-windup gain and it satisfies K
a
> 0.
Details regarding the torque controller and the gain
design in the RFVC DTC system have been reported in
[12]. The PI gains of the torque controller can be
determined from the damping factor and the natural
angular frequency of the quadratic transfer function.
V. EXPERIMENTAL RESULTS
A. Experimental Setup
The effectiveness of the proposed system is evaluated
experimentally. Table I lists the parameters of the PMSM
drive system considered in this study. All the controls are
processed through a digital signal processor (Texas
Instruments, TMS320C6713). The speed control period is
5 ms and the sampling period of the other control is 100
s. An insulated gate bipolar transistor module is used for
the inverter and the PWM carrier frequency is 10 kHz.
The rotor speed is detected by an incremental encoder
attached to the tested motor. Flux estimation is based on a
first-order low-pass filter instead of a pure integrator to
reduce the effects of the DC offset of the experimental
system and the error of the initial value used to estimate
the flux.
B. Effectiveness of Anti-windup Scheme
Fig. 7 shows the characteristics of the torque step
response to confirm the effectiveness of the anti-windup
scheme. The operating speed is 500 min
1
and no load is
applied. In this case, neither the proposed methods for
torque limiting nor the FW is applied. A large torque
overshoot appears when anti-windup is not applied. In
contrast, the torque overshoot becomes small when anti-
windup is applied. This is because voltage saturation
increases the angular difference u
c
and thus the gain
variation
i
decreases.
This confirms that the anti-windup scheme proposed in
Section IV is effective for the torque controller of the
RFVC DTC system.
C. Acceleration Characteristics
To confirm the effectiveness of the torque limiting and
the FW control proposed in Sections III-C and D, the
acceleration characteristics are investigated. In this
ATe Aus
* +
+
}
p
K
i
i i
K
z
1
s
u

| | 1
1
c
u
a
K +
us
*
uc
+
+
+

Torque Controller
Fig. 6. Anti-windup implementation for torque controller.
TABLE I EXPERIMENTAL SYSTEM PARAMETERS
Number of pole pairs P
n
2
Magnet flux linkage +
a
0.0785 Wb
d-axis inductance L
d
9.67 mH
q-axis inductance L
q
20.8 mH
Armature resistance R
a
0.824 O
DC link voltage V
dc
85 V
Limiting terminal voltage V
am
52 V
Limiting armature current I
am
8.66 A
o
|
] [
*
k
s
u
] [
*
k
s

s
t k k ]) [ ] [ (
s
*
s

] [ k
s

Voltage-limiting circle
] [k
*
v
] 1 [ + k
s

s
t k] [
*
s
v =
] 1 [

+ k
s
u
] [

k
s
u
c
u
Fig. 5. Vector diagram for voltage saturation.
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The 2010 International Power Electronics Conference
section, anti-windup is applied to the torque controller.
Fig. 8 shows the speed response characteristics when
the rotor speed is increased from 500 to 3500 min
1
when
no load is applied. The results in Fig. 8(a) show that the
rotor speed increases stably. When torque limiting and
FW are applied, the proposed scheme satisfies the
limiting values of the voltage and current, as shown in
Figs. 8(a) and (b). Fig. 8(c) shows that the f-axis current
decreases as the rotor speed increases during FW.
Fig. 9 shows the torque trajectory for the same
operating conditions as those for Fig. 8. Torque limiting
is applied between points B and D and FW control is
applied between points C and E. These results confirm
that the proposed system achieves maximum power
operation and stable control.
Fig. 10 shows the acceleration characteristics when the
rotor speed is increased from 500 to 2500 min
1
when no
load is applied. In Fig. 10(a), the trajectory moves from
the FW region to the MTPA region at the operating point
E. The proposed system can change smoothly between
control methods. Fig. 10(b) shows that the armature
voltage is below its limiting value after point E. In the
proposed system, both torque limiting and FW are
achieved by the limiter. Thus, it is unnecessary to
calculate the rotor speed when the control method
changes.
In the conventional method, the limiting torque is
calculated based on the PMSM model in the dq frame
[6]. In the MTPA control region, the maximum torque is
constant. In the FW control region, the limiting torque is
variable and is a function of the rotor speed. Therefore,
an approximate value of the limiting torque T
lim
is given
by (17). In this case, motor parameters such as the
inductance and magnet flux are required.
T
lim
= T
lim-MTPA
for MTPA control region,
K
tl4
Z
4
+ K
tl3
Z
3
+ K
tl2
Z
2
+ K
tl1
Z + K
tl0
for FW control region
(17)
where T
lim-MTPA
is the limiting torque calculated using
PMSM model, and K
tl4
, K
tl3
, K
tl2
, K
tl1
, and K
tl0
are the
coefficients of the approximating polynomial.
When the PMSM model has the parameters shown in
Table I, T
lim-MTPA
is 1.9 Nm. The coefficients K
tl4
, K
tl3
, K
tl2
,
K
tl1
, and K
tl0
are 1.01910
10
, 2.04510
7
, 1.49010
4
,
4.43110
2
, and 2.670, respectively.
Fig. 11 shows the armature voltage and current for the
conventional method, where the limiting torque is given
-7000
-6000
-5000
-4000
-3000
-2000
-1000
0
1000
2000
3000
4000
0 0.4 0.8 1.2 1.6 2
-3.2
-2.4
-1.6
-0.8
0.0
0.8
1.6
2.4
3.2
4.0
4.8
5.6
Time (s)
Zm
s
<

R
o
t
o
r

s
p
e
e
d

Z
m

(
m
i
n

1
)
0.16
0.12
0.08
0.04
E
s
t
i
m
a
t
e
d

f
l
u
x

<
s

(
W
b
)

Zm
*
= 3500 min
1
e
T

E
s
t
i
m
a
t
e
d

t
o
r
q
u
e

T
e

(
N
m
)

^
^
Torque limiting
Flux-weakening
(a) Rotor speed, torque and stator flux linkage
-60
-40
-20
0
20
40
60
0 0.4 0.8 1.2 1.6 2
0
4
8
12
16
20
24
Time (s)
R
e
f
e
r
e
n
c
e

v
o
l
t
a
g
e

V
a
*

(
V
)

Vam = 52 V
A
r
m
a
t
u
r
e

c
u
r
r
e
n
t

I
a

(
A
)

Iam = 8.66 A
Ia
V
a
*
Voltage limiting
Current limiting
(b) Armature voltage and current
-10
-8
-6
-4
-2
0
2
4
6
8
0 0.4 0.8 1.2 1.6 2
0
2
4
6
8
10
12
14
16
18
Time (s)
f
-
a
x
i
s

c
u
r
r
e
n
t

i
f

(
A
)

t
-
a
x
i
s

c
u
r
r
e
n
t
i
t

(
A
)

Under flux-weakening
Under torque limiting
(c) f- and t-axis currents
Fig. 8. Acceleration characteristics (Z
m
*
= 500 to 3500 min
1
, no load).
0
1
2
3
4
5
6
7
8
0 5 10 15 20 25 30
-3
-2
-1
0
1
2
3
4
5
Time (ms)
Without anti-windup
E
s
t
i
m
a
t
e
d

t
o
r
q
u
e

T
e

(
N
m
)

Reference
Te
*
^
Ji
With anti-windup
(Ka = 50)
0.1
0
0.2
0.3
A
n
g
u
l
a
r

d
i
f
f
e
r
e
n
c
e

T
H

(
r
a
d
)

TH
Without anti-windup
With anti-windup
G
a
i
n

v
a
r
i
a
t
i
o
n

J
i
Fig. 7. Comparison of torque step response (operating conditions:
500 min
1
, no load).
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The 2010 International Power Electronics Conference
by (17). The plots exhibit almost the same characteristics
as those shown in Fig. 8(b) for which the proposed
method was applied. However, calculating torque
limiting based on the motor model in the dq frame is
complicated. In addition, when parameter variation (e.g.,
variation in the inductance due to magnetic saturation) is
considered, parameters should be determined for several
operating conditions.
Therefore, the proposed control laws have several
advantages including insensitivity to parameter variation
and simplicity of calculation.
D. Transient Performance of Torque Limiting
Fig. 12 shows the transient characteristics of the
proposed torque limiting. Fig. 12(a) shows that when
anti-windup is not applied, the estimated torque does not
follow the reference torque. Fig. 12(b) reveals that good
torque control performance is achieved when anti-windup
is applied. Consequently, the armature current is
maintained at the limiting value for both steady and
transient states, as shown in Fig. 12(c).
VI. CONCLUSIONS
In this paper, control laws for torque limiting and the
FW suitable for a DTC system were proposed.
Experiments confirm that the proposed method can
accomplish maximum power operation satisfying the
limitations of the voltage and the current without the need
to determine any motor parameters except for the
resistance. In addition, the proposed anti-windup scheme
for the torque controller was applied, and it was
confirmed that the proposed torque limiting method is
valid for both steady and transient states. Consequently,
the proposed system has several advantages, including
insensitivity to parameter variation, simplicity of
calculation, and stable control.
REFERENCES
[1] I. Takahashi, and T. Noguchi, A new quick-response and
high-efficiency control strategy of an induction motor,
IEEE Transactions on Industry Applications, vol. 22, no. 5,
pp. 820-827, Sep./Oct. 1986.
[2] G. S. Buja, and M. P. Kazmierkowski, Direct torque
control of PWM inverter-fed AC motors A survey,
IEEE Transactions on Industrial Electronics, vol. 51, no. 4,
pp. 744-757, Aug. 2004.
[3] L. Tang, L. Zhong, M. F. Rahman, and Y. Hu, A novel
direct torque control for interior permanent-magnet
synchronous machine drive with low ripple in torque and
flux A speed-sensorless approach, IEEE Transactions
on Industry Applications, vol. 39, no. 6, pp. 1748-1756,
Nov./Dec. 2003.
0.0
0.5
1.0
1.5
2.0
2.5
0 1000 2000 3000 4000
Rotor speed (min
1
)
T
o
r
q
u
e

(
N
m
)

Torque-limiting
curve (Ia = Iam)
FW control
region
(Va = Vam)
B
C
D
E
A
F
MTPA control
region
(Va < Vam)
(a) Torque trajectory in torque/rotor speed plane
-60
-40
-20
0
20
40
60
0 0.4 0.8 1.2 1.6 2
0
4
8
12
16
20
24
Time (s)
R
e
f
e
r
e
n
c
e

v
o
l
t
a
g
e

V
a
*

(
V
)

Vam = 52 V
A
r
m
a
t
u
r
e

c
u
r
r
e
n
t

I
a

(
A
)

Iam = 8.66 A
Ia
V
a
*
Current limiting
Voltage limiting
Point E
(b) Armature voltage and current
Fig. 10. Acceleration characteristics (Z
m
*
= 500 to 2500 min
1
, no load).
0.0
0.5
1.0
1.5
2.0
2.5
0 1000 2000 3000 4000
Rotor speed (min
1
)
T
o
r
q
u
e

(
N
m
)

Torque-limiting
curve (Ia = Iam)
B
C
D
A
MTPA control
region
(Va < Vam)
FW control
region
(Va = Vam)
E
Fig. 9. Torque trajectory in torque/rotor speed plane
(Z
m
*
= 500 to 3500 min
1
, no load).
-60
-40
-20
0
20
40
60
0 0.4 0.8 1.2 1.6 2
0
4
8
12
16
20
24
Time (s)
R
e
f
e
r
e
n
c
e

v
o
l
t
a
g
e

V
a
*

(
V
)

Vam = 52 V
A
r
m
a
t
u
r
e

c
u
r
r
e
n
t

I
a

(
A
)

I
am
= 8.66 A
I
a
Va
*
Voltage limiting
Current limiting
Fig. 11. Armature voltage and current for torque limiting based on
motor model in the dq frame (acceleration characteristics,
Z
m
*
= 500 to 3500 min
1
, no load).
3005
The 2010 International Power Electronics Conference
[4] M. Fu, and L. Xu, A sensorless direct torque control
technique for permanent magnet synchronous motors,
Proceedings of the 1999 IEEE Industry Applications
Society Annual Meeting, vol. 1, pp.159-164, Oct. 1999.
[5] S. Morimoto, M. Sanada, and Y. Takeda, Wide-speed
operation of interior permanent magnet synchronous
motors with high-performance current regulator, IEEE
Transactions on Industry Applications, vol. 30, no. 4, pp.
920-926, Jul./Aug. 1994.
[6] M. F. Rahman, L. Zhong, and K. W. Lim, A direct
torque-controlled interior permanent magnet synchronous
motor drive incorporating field weakening, IEEE
Transactions on Industry Applications, vol.34, no.6,
pp.1246-1253, Nov./Dec. 1998.
[7] L. Tang, L. Zhong, M. F. Rahman, and Y. Hu, A novel
direct torque controlled interior permanent magnet
synchronous machine drive with low ripple in flux and
torque and fixed switching frequency, IEEE Transactions
on Power Electronics, vol. 19, no. 2, pp. 346-354, Mar.
2004.
[8] J. Faiz, and S. H. Mohseni-Zonoozi, A novel technique
for estimation and control of stator flux of a salient-pole
PMSM in DTC method based on MTPF, IEEE
Transactions on Industrial Electronics, vol. 50, no. 2, pp.
262-271, Apr. 2003.
[9] G. Pellegrino, E. Armando, and P. Guglielmi, Optimal
exploitation of the constant power region of IPM drives
based on field oriented control, 2007 IEEE Industry
Applications Society Annual Meeting Conference Record,
Sep. 2007.
[10] Y. Inoue, S. Morimoto, and M. Sanada, Control method
for direct torque controlled PMSG in wind power
generation system, Proceedings of the 2009 IEEE
International Electric Machines and Drives Conference
(IEMDC 2009), pp. 1231-1238, May 2009.
[11] Y. Inoue, S. Morimoto, and M. Sanada, A novel method
of maximum-power operation for IPMSMs in DTC
system, Proceedings of the 13th European Conference on
Power Electronics and Applications (EPE 2009), Sep. 2009.
[12] Y. Inoue, S. Morimoto, and M. Sanada, Examination and
linearization of torque control system for direct torque
controlled IPMSM, IEEE Transactions on Industry
Applications, vol. 46, no. 1, pp. 159-166, Jan./Feb. 2010.
0
1
2
3
0 5 10 15 20 25 30
T
o
r
q
u
e

(
N
m
)

Reference torque
Time (ms)
Estimated torque
e
T

*
e
T
(a) Torque response without anti-windup
0
1
2
3
0 5 10 15 20 25 30
T
o
r
q
u
e

(
N
m
)

Reference torque
Time (ms)
Estimated torque
e
T

*
e
T
(b) Torque response with anti-windup
0
2
4
6
8
10
12
0 5 10 15 20 25 30
A
r
m
a
t
u
r
e

c
u
r
r
e
n
t

I
a

(
A
)

Iam = 8.66A
Without anti-windup
Time (ms)
With anti-windup
(c) Comparison of armature current
Fig. 12. Effect of torque response improvement on current limitation
(operating condition: 500 min
1
, no load).
3006
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