An Improved Model Predictive Direct

Torque
Control for Induction Machine Drives

SESSION 2017-18
MAJOR PROJECT PHASE -I Supervised By :
Supervised By :
Prof. M.P.S CHAWLA Mr. R.S Mandloi
Associate Professor Assistant Professor
EED EED

SUBMITTED BY
AAYUSH PATIDAR
0801EE16ME18
 CONTENT
• Introduction
 Modern Electrical Drive Systems
 Difficulty Arises In Induction Motor Control
• Literature Survey
• Existing System
 Review Of Previous Induction Motor Control Methods
 Fundamental Concept Of DTC
 Main feature of DTC
 Disadvantages of DTC
• Proposed System
 Model Predictive Direct Torque Control
• Simulation Result
• Conclusion and Scope of Future
• Conclusion
 INTRODUCTION

Induction motor thanks to its well-known advantages as simply construction,

reliability, ruggedness and low cost has found very wide industrial applications.

After semiconductor devices were introduced (1960s)

Variable frequency sources available – IM motors in variable speed
applications .

But, advantage of being variable speed is superseded by control problems when

using induction motor in industrial drives .
 MODERN ELECTRICAL DRIVE SYSTEMS
Typical Modern Electric Drive Systems
Power Electronic Converters Electric Motor
Electric Energy Electric Energy Electric Mechanical
- Unregulated - - Regulated - Energy Energy

POWER IN Power
Moto Load
Electronic r
Converters

feedback

Reference
Controller
 DIFFICULTY ARISES IN INDUCTION MOTOR
CONTROL
a) Complex computation during sensorless controlling
b) Nonlinearity in IM control.
c) Uncertainty in modelling IM.
d) Inverter Switching Frequency

Fig : Current-input model of an induction motor in

Simulink
 LITERATURE SURVEY
1. The researchers K.L Shi, T.F Chan and Y.K Wong, show us “Modelling of the three phase
Induction Motor using Simulink”.Here Simulink model of Induction Motor presented
for effective transient analysis. This paper based on two-axis theory of revolving frame
transformation.
2. The researchers Domenico Casadei, Francesco Profumo, Giovanni Serra and Angelo
Tani , show us “FOC and DTC: Two Viable Schemes for Induction Motors Torque
Control”. This paper is aimed to give a contribution for a detailed comparison between
the two control techniques, emphasizing advantages and disadvantages. The
performance of the two control schemes is evaluated in terms of torque and current
ripple, and transient response to step variations of the torque command. This paper
provide merits of DTC for high dynamic applications, but, on the other hand, shows
higher current and torque ripple.
3. The researchers Yongchang Zhang, Bo Xia, Haitao Yang, Jose Rodriguez, show us
“Overview of Model Predictive control for induction motor drive”. Here they describe
merit and demerit of existing MPC methods. This paper present particular progress on
solving the drawbacks of conventional MPC and one of MPC is compared on basis of
steady state performance, dynamic response and average switching frequency
4. The researchers Yongchang Zhang, Haitao Yang, and Bo Xia, show us “Model
Predictive Control of Induction Motor Drives: Torque Control versus Flux
Control”.This paper show how to avoid the non trivial tuning work of weighting factor
in conventional MPTC, and so proposing MPFC for two-level inverter-fed IM drives.
In this paper show that MPFC performs well over a wide speed range better than
conventional MPTC with a fine tuning weighting factor in terms of both steady state
performance and dynamic responses. It also shows that the average switching frequency
of MPFC is lower than that of conventional MPTC, which means less switching loss.

5. The researchers Md. Habibullah, Dylan Dah-Chuan Lu, Dan Xiao, and Muhammed
Fazlur Rahman, describe us “A Simplified Finite-State Predictive Direct Torque
Control for Induction Motor Drive”. This paper has presented a simplified FS-PDTC
algorithm that employs only three voltage vectors instead of eight used in the
conventional FS-PTC for prediction and actuation. The number of prediction vectors is
reduced without any complex calculations. A reduction of the average switching
frequency of each semiconductor switch is achieved by not taking into account the
switching transition term in the cost function, as is the case in the conventional FS-PTC.
The variation range of average switching frequency is also reduced. The reduced
number of control objectives in the cost function makes the selection of weighting
factors simpler than the conventional method.
 EXISTING SYSTEM: IM DRIVES

INDUCTION MOTOR DRIVES

Scalar Control Vector Control

Const. V/Hz is=f(wr) FOC DTC

Rotor Flux Stator Flux Circular Hexagon DTC

Flux Flux SVM
 REVIEW OF PREVIOUS INDUCTION MOTOR
CONTROL METHODS
Scalar Control :- Based on relations valid for steady states, only magnitude
and frequency of voltage, current and flux linkage space vectors are controlled.
control system does not act on space vector position during transients.

Vector Control :- Based on relations valid for dynamic states, not only
magnitude and frequency but also instantaneous positions of voltage, current
and flux space vectors are controlled.
It acts on the positions of the space vectors and provides their correct
orientation for both steady states and transients.

Field Oriented Control :-In this motor equations are (rewritten) transformed in
a coordinate system that rotates in synchronism with the rotor (stator) flux
vector. These new coordinates are called field coordinates.
 FUNDAMENTAL CONCEPT OF DTC
Direct Torque Control :- It makes use of hysteresis comparators with torque
and stator flux magnitude errors as inputs to decide which stator voltage vector
is applied to motor terminals. The complex plane is divided in six sectors, and a
switching table is designed to obtain the required vector based on the hysteresis
comparators outputs .

Fig : Block Diagram Of DTC Scheme

VOLTAGE SPACE VECTOR
 STATOR FLUX VECTOR VARIATION

Fig : Hysteresis Comparator for (a)Torque ; (b)Flux

Fig : DTC Switching Table

The flux variation is proportional to VS*Δt and has the same direction
of the voltage vector applied
 ROTOR FLUX AND TORQUE VARIATION

From the general equations written in the rotor reference frame, we can
derive

This equation shows the nature of rotor flux dynamic response for
changes in stator flux

Any stator flux vector variation determines a torque variation on the basis of two
contributions
I) The variation of the stator flux magnitude
II) The variation of the stator flux phase angle with respect to rotor flux
Any command which causes the flux angle to change will determine a quick torque
variation.
 MAIN FEATURES OF DTC

1) Decoupled control of torque and flux.

2) Absence of mechanical transducers.
3) Current regulator, PWM pulse generation, PI control of flux and torque and
co-ordinate transformation are not require.
4) Very simple control scheme and low computational time.
5) Reduced parameter sensitivity.
 DISADVANTAGES OF DTC

1) difficulty to control torque and flux at very low speed.

2) high current and torque ripple.
3) variable switching frequency behavior.
4) high noise level at low speed.
5) lack of direct current control.
 PROPOSED SYSTEM
Predictive Control : In this method, we use model of the system for predicting
the future behavior of the controlled variables for controlled O/P from system.
Model Predictive Control :- It also referred as Receding Horizon Control .
It is one of predictive control, use basic ideas as :
• The use of a model to predict the future behavior of the variables until a horizon
in time.
• A cost function that represents the desired behavior of the system.
• The optimal actuation is obtained by minimizing the cost function.
 MODEL PREDICTIVE DIRECT TORQUE
CONTROL

•It is nonlinear discrete-time prediction model computes for each switching

sequence the drive’s response.

Fig : Block Diagram Of The MPDTC Scheme

 WORKING OF MPDTC
•To emulate a long output horizon, the “promising” output trajectories are
extrapolated, and the number of time-steps is determined when the first output
variable hits a hysteresis bound.
•The cost associated with each switching sequence is determined by dividing the
total number of switch transitions in the sequence by the length of the
extrapolated trajectory.
•Minimizing this penalty yields the optimal switching sequence and the next
optimal switch position to be applied to the inverter.
•The MPDTC scheme is available in two forms with N >1 and N = 1 differing
mostly in the degree of freedom for the switching sequences
MAJOR ADVANTAGES
Performance: MPDTC inherits the very fast dynamic torque response of standard
DTC that is inherent in hysteresis-based control concepts. By penalizing the short-term
switching frequency in the objective function, the average switching frequency is
reduced—compared to DTC by up to 50%.
Flexibility and Simplicity: The MPDTC scheme is highly flexible. It is
straightforward to incorporate additional or different performance and control objectives
by simply modifying the cost function.
SIMULATION RESULT

Fig Modelling Of Induction Motor

 Fig : Electromagnetic Torque Response of Induction Motor
Figure shown above shows the electromagnetic torque and the load torque. Here, the electromagnetic torque
is matching the load torque, after the initial transients. Therefore, Induction Motor Modelling provides the
facility of independent control over the parameters to get the desired outputs.

Fig : Speed Response of the Induction Motor

•This simulation result shown, stator current and electromagnetic torque initially contribute
some harmonics in machine.
•These harmonics at low speed have to be taken care by advance control techniques that
can be applied to Induction Motor Modelling to enhance the performance of induction
motor

Fig :Stator Current Response of Induction Motor

 CONCLUSION
AND
SCOPE OF FUTURE
The existing system contain many irregularities toward control of induction
motor in wide speed range.
This proposal allows the induction motor to be used in various applications,
such as e-cycle, treadmills, washing machine etc.In addition to this, the
proposal reduces the complex design as well as noise in induction motor even
in low speed regions.
In future work statistical techniques for optimization and guarantee
performance will be used , to ensure safety and long life of induction motor.
 REFRENCES
1. S.Rubino,R.Bojoi,S.A.Odhano,P.Zanchetta,“Model Predictive Direct Flux Control of Multi
Three-Phase Induction Motor Drives”, IEEE, 2017

2. Yongchang Zhang, Bo Xia,Haitao Yang, José Rodriguez,” Overview of Model Predictive

Control for Induction Motor”, Chinese Journal of Electrical Engineering, Vol 2 No 1 PP
62-77 , JUNE 2016.

3. Yongchang Zhang, Haitao Yang, and Bo Xia,” Model Predictive Control of Induction
Motor Drives: Torque Control versus Flux Control”, IEEE Transactions on Ind. Appl.,
2016.

4. Cristian Lascu, Saeed Jafarzadeh, Sami M. Fadali and Frede Blaabjerg, “Direct Torque
Control with Feedback Linearization for Induction Motor Drives”, IEEE, 2016.

5. Yongchang Zhang, Haitao Yang, “Model-Predictive Flux Control of Induction Drives

With Switching Instant Optimization”, IEEE Transactions On Energy Conversion, 2015.
6. Patricio Cortés, Marian P. Kazmierkowski, Ralph M. Kennel, Daniel E. Quevedo, and
José Rodríguez, “Predictive Control in Power Electronics and Drives”, IEEE
TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 55, NO. 12, DECEMBER 2008

7. Marian P. Kazmierkowski, Giuseppe Buja, “Review of Direct Torque Control Methods

for Voltage Source Inverter-Fed Induction Motors”, IEEE, 2003

8. Domenico Casadei, , Francesco Profumo, , Giovanni Serra, and Angelo Tani , “FOC
AND DTC: TWO VIABLE SCHEMES FOR INDUCTION MOTORS TORQUE CONTROL”, IEEE
Transactions On Power Electronics, Vol. 17, No. 5 PP 779-788, SEPTEMBER 2002.

9. Haitham Abu-Rub, Atif Iqbal, Jaroslaw Guzinski, “HIGH PERFORMANCE CONTROL OF

AC DRIVES WITH MATLAB/SIMULINK MODELS “ , John Wiley & Sons Ltd,2012

10. Tze-Fun Chan, Keli Shi , “APPLIED INTELLIGENT CONTROL OF INDUCTION MOTOR
DRIVES” , John Wiley & Sons (Asia) Pte Ltd, 2011
THANK YOU