DIRECT TORQUE CONTROL

OF INDUCTION MOTOR

By
Y.Sateeshkumar R.Sreeram
Department of EEE
K.L.C.E
 CONTENTS
• DC drives
• AC drives
• Direct Torque Control (DTC)
• SIMULINK model of DTC
• Simulation results
• References
 DC drive
• In DC motor
T = k*flux * armature current

independent control of flux and torque

owing to good dynamic response.
 DC drive
• Merits
1) precise torque and speed control
2) low cost control circuitry
• Demerits
1) regular maintenance
2) expensive
3) high weight to torque ratio
 AC drive
• Types
1) induction motor drives
2) synchronous motor drives
 AC drive
• Induction Motor(IM)
1) low cost
2) low maintenance
3) low weight to power ratio
 AC drives
• Control of IM
1) V/f control
2) Field oriented control
3) Direct Torque Control (DTC)
 AC drive
• V/f control
V
IM
Freq. ref V/f ratio PWM
f

• It is a scalar control technique in which only

the magnitude of voltage is controlled.
 AC drive
• V/f control
Merits
1) easy to implement
2) wide range of speed control
Demerits
1) low dynamic response
2) less accurate
 AC drive
• Vector control
In vector control both the magnitude and
phase angle are controlled.
 AC drive
• Space vector is the Vref  va  avb  a vc
2
equivalent of all three
phase instantaneous
quantities
 AC drive
• Field oriented control
 Field oriented control
• Magnetizing and torque producing
components of current are controlled
independently.

• Rotor position is evaluated and there by flux

vector is determined
 Field oriented control
• De merits
1) torque control is inherent
2) dependent on motor parameters
3) shaft encoder causes delay in response
Voltage Source Inverter (VSI)
 VSI
• VSI is having six
active states and
two zero states.
 Direct Torque Control (DTC)
• The control of torque and flux is by controlling
the voltage applied to the motor.
• The voltage control is by Voltage Source
Inverter
• Decoupled control of torque and flux
 DTC
• Principle of DTC
3p Lm 
Te   r  s sin(  s   r )
2 2 Ls Lr  Lm 2

• torque can be controlled by keeping flux as

constant and varying  s
 DTC
• Principle of DTC
d s
 vs
dt

 s  v s t
• By applying a small change in voltage flux can
be varied.
 DTC
If flux vector lies
in sector 1 then
• For increase in
torque states V2
or V3 must be
applied.
• Decrease in torque
V6 and V5 must
be applied.
 DTC
• For increase in flux
V2,V1,V6 states can
be utilized.
• Decrease in flux
V3,V5,V4 states can
be applied
 DTC

Block diagram of Direct Torque Control (DTC) of

induction motor.
 DTC
• Flux estimator
as d-axis is aligned along stator A-axis

vds  vas  qs    vqs  Rs iqs  dt

vqs   vbs  vcs  3  ds    vds  Rs ids  dt

 DTC
• Torque estimator

3 p
Te 
22
  ds iqs  qs ids 
 DTC
optimum switching vector lookup table
V

sector
flux Torque 1 2 3 4 5 6

1 V2 V3 V4 V5 V6 V1
1 0 V0 V7 V0 V7 V0 V7
-1 V6 V1 V2 V3 V4 V5
1 V3 V4 V5 V6 V1 V2
0 0 V7 V0 V7 V0 V7 V0
-1 V5 V6 V1 V2 V3 V4
 DTC
• Merits
good dynamic response
simple control scheme
insensitive to motor parameters
• Demerits
torque ripple
poor steady state response
 Modeling of DTC
• IM dynamic model equations in stationary reference frame
d ds  ds  Ls ids  Lmidr
vds  Rs ids 
dt
d qs  qs  Lsiqs  Lmiqr
vqs  Rs iqs 
dt  dr  Lr idr  Lmids
d qr
0  Rr iqr   r dr  qr  Lr iqr  Lmiqs
dt
d dr d m
0  Rr idr   r qr Te  TL  J
dt dt
SIMULINK model of DTC
 Simulation results
30

25

20

15

10

-5
0 0.005 0.01 0.015 0.02 0.025 0.03 0.035 0.04 0.045 0.05

Initial torque response

 Simulation results

1.5

0.5

-0.5

-1

-1.5
-1.5 -1 -0.5 0 0.5 1 1.5

Stator flux vector

20
Simulation results
15

10

-5

-10

-15

-20
0 0.02 0.04 0.06 0.08 0.1 0.12 0.14 0.16

Stator currents
 Simulation results
30

20

10

-10

-20

-30
0 0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08 0.09 0.1

Torque response for square wave reference

 References
[1] I.Takahashi and N.Noguchi, “A new quick response and high efficiency control strategy of
an Induction motor” IEEE transactions on Industry Applications, vol. 22, no. 5, Sept. /Oct.
1986 pp. 820-827.

[2] B.K.Bose, “Modern Power Electronics and AC Drives”, Prentice Hall,2002

[3] P.Vas, “Sensorless Vector and Direct Torque Control” Oxford university Press,1998.

[4] T.Ohtani, N.Tadaka and K. Tanaka, “Vector control of induction motor without shaft
encoder”, IEEE transactions on Industry Applications, vol. 28, no. 1, Jan./Feb. 1992,pp.
157-164.

[5] G.Buja, D. Casadei and G.Serra, “DTC based strategies for induction motor drives”, in
Conf. Proc of IECON’97, pp. 1506-1516.

[6] H.L.Huy, “Behavioral Modeling and Simulation of Direct Torque Induction Motor drive
using PSPICE”, in Conf. Proc. of IECON 99, pp. 1403-1408.

[7] The Math Works Inc. “Using SIMULINK”