Direct Flux and Torque Control of Three Phase Induction Motor Drive Using PI and Fuzzy Logic Controllers

for Speed Regulator and Low Torque Ripple

Tejavathu Ramesh, Anup Kumar Panda ,Member, IEEE
Abstract This paper presents a direct flux and torque control (DTC) of three phase induction motor drive (IMD) using PI and fuzzy logic controller (FLC) for speed regulator (SR) and low torque ripples. This control method is based on DTC operating principles. The DTC is one of the most excellent direct control strategies of stator flux and torque ripples of IMD. The conventional DTC method has been optimized by using PI controller in the speed regulating loop of IMD. The main drawback with the conventional DTC of IMD is high stator flux and torque ripples and the speed of IMD is reducing under transient and dynamic state of operating condition. This drawback was reduced using with the proposed control technique. In this proposed control technique the PI controller is regulating the speed of the IMD and the FLC is reducing the stator flux and torque ripples. The DTC is achieved by reference of stator flux hysteresis band which is generates from instantaneous actual and reference stator fluxes and the reference of torque hysteresis band which generates from FLC. The amplitude of the reference stator flux is kept constant at rated value. The proposed DTC technique gives better performance in the three-phase IMD than conventional DTC technique. The simulation results of both conventional and proposed control technique is presented, compared, and confirmed by the simulation results and found that the low stator flux, torque ripples and good speed regulator with the proposed DTC technique using MATLAB/SIMULINK. Keywords Direct Torque Control (DTC), Fuzzy Logic Control (FLC), Induction Motor Drives (IMD), PI controller, Space Vector Modulation (SVM).

I.

INTRODUCTION

The electric drives are used for motion control. Now a days around 70% of electric power consumed by electric drives. This electric drives are mainly AC and DC drives. During last four decades AC drives are become more and more popular, especially induction motor Drives (IMD), because of robustness, high efficiency, high performance, and rugged structure ease of maintenance so widely used in industrial application, such as paper miles, robotics, steel miles, servos, transportation system, elevators, machines tools etc. The IMD control methods can be divided into two methods such as, scalar and vector control. The general classification of the variable frequency controls is presented and proposed control technique was shown in thick line in Fig.1. The scalar control is operating in steady state and controls the angular speed of current, voltage, and flux linkage in the space vectors.
Tejavathu Ramesh, Anup Kumar Panda are with the Department of Electrical Engineering, National Institute of Technology, Rourkela, Orissa, India (email: [email protected], [email protected]).

Thus, the scalar control does not operating in the space vector position during transient state. The vector control, which is based on relations valid for dynamic states, not only angular speed and magnitude but also instantaneous position of current, voltage, and flux linkage of space vector are controlled. In the vector control, one of the most popular control method for induction motor drives, known as Field Oriented Control (FOC) is presented by F.Blaschke (Direct FOC) and Hasse (Indirect FOC) in early 1970s, and FOC gives high performance, and high efficiency for industrial applications [1]. In this FOC, the motor equations are transformed into a coordinate system that rotates in synchronism with the rotor flux vector control [2]. The FOC is good in high dynamic performance, low stator flux and torque ripples, switching frequency, and maximum fundamental component of stator current, but FOC method has some drawbacks, such as requirement of two co-ordinate transformations, current controllers, and high machine parameter sensitivity. This drawback was eliminated using the new strategies for torque and flux ripple control of IMD using DTC was proposed by Isao Takahashi and Toshihiko Noguchi, in the mid 1980s [3]. Comparing with FOC, DTC has a simple control scheme and also very less computational requirements, such as current controller, and co-ordinate transformations are not required. The main feature of DTC is simple structure and good dynamic behavior and high performance and efficiency [4,5,6]. The new control strategies proposed to replace motor linearization and decoupling via coordinate transformation, by torque and flux hysteresis controllers [7]. This method referred as conventional DTC [8]. In the conventional DTC has some drawbacks, such as, variable switching frequency, high torque and flux ripples, problem during starting and low speed operating conditions, and flux and current distortion caused by stator flux vector changing with the sector position [8], and the speed of IMD is changing under transient and dynamic state operating condition. In order to overcome with this problem, the proposed DTC with PI and FLC is using. The PI controller is using for speed control in the SR loop and the FLC is using for stator flux and torque ripple reduction in the torque control loop [9]. The conventional and proposed DTC of IMD simulation results are presented and compared. Finally the effectiveness, validity, and performance of DTC of IMD using both conventional and proposed controllers are analyzed, studied, and confirmed by simulation results and the results shows low stator flux and torque ripples, and good speed regulator of IMD with the proposed technique using MATLAB/SIMULINK.

978-1-4673-0455-9/12/$31.00 2012 IEEE

Variable Frequency Control

Scalar Based Controller

1
U DC

1
Sb

1
Sc

q
d
Induction Motor

Vector Based Controller

Field Oriented Direct Torque Passivity Based Control Control Control

Sa

V/f =Const. Is= f (ws) Volt/Hertz Stator Current

Direct TorqueSpace Vector Modulation

Circle Flux Hexagon The stator output phase voltages are constructed by the Trajectory Trajectory following matrix (2): (Takahashi) (Takahashi)
Us a s U DC Ub = 3 s Uc 2 -1 -1 Sa -1 2 -1 S b -1 -1 2 Sc (2)

Fig.3. Schematic diagram of voltage source inverter.

Fig.1. Classification of induction motor control methods.

II. DIRECT TORQUE AND FLUX CONTROL OF IMD

The conventional DTC of IMD is supplied by a three phase, two level voltage source inverter (VSI). The main aim is s s s to directly control of stator flux linkage or rotor flux linkage The inverter output voltages U a , U b , and U c are converted to and electromagnetic torque by selection of proper valtage U ds and U qs by following equations (3), and (4): switching states of inverter. 2 1 1 Us Sa Sb Sc (3) ds = The schematic diagram of conventional DTC of IMD is shown 3 3 3 in Fig.2. This schematic diagram consists of a torque and flux 1 1 Us Sb + Sc (4) hysteresis band comparators (T, ), voltage vector sector qs = 3 3 selection, stator flux and torque estimators (s, Te), induction The behavior of induction motor drive using DTC can be motor, speed controller, and voltage source inverter (VSI) [10]. described in term of space vector model is written in the stator A. Voltage Source Inverter (VSI) stationary reference frame: d s The three phase and two level VSI is shown in Fig.3, it has (5) U sds = R s is ds + eight possible voltage space vectors, in those six active voltage dt ds vectors (U1-U6) and two zero voltage vectors (U7,U8), according d s U sqs = R s is (6) qs + to the combination of the switching modes are Sa, Sb, and Sc. dt qs When the upper part of switches is ON, then the switching d s d s value is 1 and when the lower switch is ON, then the qr r sdr , 0 = R r is dr + r sqr (7) 0 = R r is qr + dr + dt dt switching value is 0. The stator voltage vector is written as in equation (1). s = Ls is + L m i r , r = L r i r + L m is (8) 2 2 U s,k = U DC (1) The eight possible voltage vector switching configuration is Sa + aSb + a Sc 3 shown in Fig.4. Where UDC is the dc link voltage of inverter, a = e j2 /3
* s
s
Flux Hysteresis Band

UDC
Voltage Source Inverter

U 2 (110 )

Sector Selection
U3

U2
e (1)

Torque Hysteresis Band

e (3)

e (2)

Sa
U1

C G

Te*

U4

e (4) e (6) e (5)

T
Te

U5

U6

Sb Sc

U 3 ( 010 )

U3

a b c
Sector 2

U2

U1 (100 )

a b c
Sector 3

a b c
Sector 1 Sector 6

Te

e (k)
2 s = ( 2 ds + qs )

U4

U1
U 6 (101)

d
a b c

Vds
Vqs

dq

Va Vb Vc
ia ib

U1 ( 011)

Sector 4

e = tan Te =

s qs s ds

3p s s s s s ds i qs qs i ds 4

i ds i qs

a b c
U U 7 (111) 5

Sector 5

Stator Flux & Torque Estimation

abc

ic

U 5 ( 010 )

Speed Controller

* r

a b c

a b c

U 8 ( 000 )

U6

a b c

Fig.4. Eight possible switches configuration of the voltage source inverter.

Induction Motor

Fig.2. Schematic diagram of direct torque control of induction motor.

B. Direct Flux Control

Secto r3

The implementation of the DTC scheme requires the torque, flux linkage computation and generation of vector switching states through a feedback control of the flux and torque directly without inner current loops. The stator flux in the stationary reference frame (ds-qs) can be estimated as [10]: ds = U i R s dt
s ds s qs s ds s s

q
U3 (010)

U3 (I, IT) U4 (D, IT)

Sector 2
U 2 (110)

r cto Se

U1 (I, DT)

qs

( = (U

is qs R s
s 2

) )dt

U2 (I, DT)
U4 (I, IT)

(9) (10)

U6 (D, DT)

U3 (D, IT) U (I, IT) 2 U6 (I, DT)

U1 (D, DT)
U5 (D, IT)
U 4 (011) U3 (I, DT) U 2 (D, DT)

The estimated stator flux, s , is given by:

U8 (000) U5 (D, DT) U 7 (111)

U1 (100)

U (D, IT) U (I, DT) d Us = s or s = U s .t (12) dt U (D, IT) U (I, DT) The change in input to the flux hysteresis controller can be U (101) U (I, IT) U (001) written as: Sector 5 s = * (13) s s Fig 5. The voltage space vector control of flux and torque in six sectors plane. The flux hysteresis loop controller has two level of digital output , according to the following relation shown in Table 1. The selection of increasing and decreasing the stator flux and torque is shown in Table 3.

( )

TABLE 1. SWITCHING LOGIC FOR FLUX ERROR

* s

State ( s ) > s
( * s s ) < s
C. Direct Torque Control

Flux Hysteresis() 1
-1

Kth Sector Stator Flux () Torque (T)

Hysteresis Controller T 1 1 0 -1 1 0 0 -1

TABLE 3. GENERAL SELECTION FOR DTC

Increase U k , U k +1 , U k 1 U k , U k +1 , U k + 2

Decrease U k + 2 , U k +3 , U k 2 U k + 3 , U k 2 , U k 1

TABLE 4. VOLTAGE VECTOR SELECTION

The torque hysteresis loop control has three levels of digital output, which have the following relations is shown in Table 2.
TABLE 2. SWITCHING LOGIC FOR TORQUE ERROR

Sector Selection e(k) Sector e (1 ) U2 110 U7 111 U6 101 U3 010 U8 000 U5 001 Sector e (2) U3 010 U8 000 U1 100 U4 011 U7 111 U6 101 Sector e (3) U4 011 U7 111 U2 110 U5 001 U8 000 U1 100 Sector e (4) U5 001 U8 000 U3 010 U6 101 U7 111 U2 110 Sector e (5) U6 101 U7 111 U4 011 U1 100 U8 000 U3 010 Sector e (6) U1 100 U8 000 U5 001 U2 110 U7 111 U4 011

State

(Te* Te ) > Te Te < (Te* Te ) < Te

* e

Torque Hysteresis (T) 1 0

-1 (T Te ) < Te when the torque hysteresis band is T=1 increasing torque, when T=0 means torque at zero and T=-1 decreasing the torque. The instantaneous electromagnetic torque and angle in terms of stator flux linkage is given in equation (12), (13). 3P s s s (14) Te = ds i qs s qs i ds 22 s 1 ds e (k) = tan (15) s qs The change in electromagnetic torque error can be written as: Te = Te* Te (16) The voltage vector is selected using torque or flux need to be increase or decreased comes from the three level and two level hysteresis comparators for torque and stator flux respectively. The Fig.5, illustrates the 2-hysteresis optimized voltage vector in six sectors and which are selected from six active and two zero voltage vector switching configurations, using the voltage vector selection table is shown in Table 4.

If U0 or U7 is selected, the rotation of flux is stopped and the torque decreases whereas the amplitude of flux remains unchanged, with this type of torque and flux hysteresis comparator, we can control and maintain the end of the voltage vector flux within a circular zigzag path in a ring. III. PROPOSED FUZZY LOGIC CONTROLLER The fuzzy logic control is one of the controller in the artificial intelligence techniques. Fig.2 and Fig.6 shows the schematic model of the DTC of IMD using PI and FLC based SR and torque ripple controls. In this paper, Mamdani type FLC is using and the DTC of IMD using conventional PI controller based SR are requires the precise mathematical model of the system and appropriate gain values of PI controller to achieve high performance drive. Therefore, unexpected change in load conditions would produce overshoot, oscillation of the IMD

Se

cto r

U5 (I, IT)

U3 (D, DT)

s =

s 2 ds

+ qs

U2 (D, IT) U1 (I, IT)

(11)
o ct Se r4

U4 (D, DT)

speed, long settling time, high torque ripple, and high stator flux ripples. To overcome this problem, a fuzzy control rule look-up table is designed from the performance of torque response of the DTC of IMD. According to the torque error and change in torque error, the proportional gain values are adjusted on-line [8].
Flux Hysteresis

* s
Te (k) Te (k 1)

s
0

Sector Selection

UDC Sa Sb
G
Voltage Source Inverter

k
Te* (k)

s
Te

0
1 Torque Hysteresis
e (k)

Sc

Z 1
Unit Delay

k k

Fuzzy Logic Controller

A FLC converts a linguistic control strategy into an automatic control strategy and fuzzy rules are constructed by expert knowledge or experience database. Firstly, the input torque Te (k) and the change in torque error Te* (k) have been placed of the torque to be the input variables of the FLC. Then the output variable of the FLC is presented by the control of change in torque Te . To convert these numerical variables into linguistic variables, the following seven fuzzy levels or sets are chosen as: NL (negative large), NM (negative medium), NS (negative small), ZE (zero), PS (positive small), PM (positive medium), and PL (positive large) as shown in Fig.7.
A. Fuzzy Variables

Te
Te*

2 2 s = ( ds + qs )

Uds
U qs
i ds

Ua

dq

Ub Uc ia

Speed Controller

e = tan 1 Te =

sqs
s ds

Kp
*r

Ki
r

3p s s s ds i qs sqs isds 4

i qs

ib

abc

ic

Stator Flux & Torque Estimation

In the crisp variables of the torque error and change in torque error are converted into fuzzy variables Te (k) and Te* (k) that can be identified by the level of membership functions in the fuzzy set. The fuzzy sets are defined with the triangular membership functions.
B. Fuzzy Control Rules
Induction Motor

Fig 6. Proposed structure of FLC based torque control.

The fuzzy controller is characterized as follows: 1) Seven fuzzy sets for each input and output variables, 2) Fuzzification using continuous universe of discourse, 3) Implication using Mamdani's min operator, 4) De-fuzzification using the centroid method.
Fuzzification: the control process of converting a numerical variable (real number) convert to a linguistic variable (fuzzy number) is called fuzzification. De-fuzzification: the rules of the FLC generate required output variable in a linguistic variable (Fuzzy Number), according to the real world requirements, linguistic variables have to be transformed to crisp output (Real number). Database: the database stores the definition of the membership Function required by fuzzifier and defuzzifier [11].
NL
NM
NS

In the fuzzy membership function there are two input variables and each input variable have seven linguistic values, so 7x7=49 fuzzy control rules are in the fuzzy reasoning is shown in TABLE. 5, and flowchart of FLC is shown in Fig.8.
Rule 1: If Te (K) is NL and Te* (K) is NL Then Te is NL
Rule 2: If Te (K) is NL and
MF

Input 1
Te (k)

( NL, NM, NS, ZE, PS, PM, PL )

MF

Te* (K) is NM Then Te is NL

Rule 3: If Te (K) is NL and Te* (K) is NS Then Te is NL

Rule 4: If t e (K) is NL and Te (K) is ZE Then Te is NL Rule 49: If Te (K) is PL and

Input 2
Te* (k)

Defuzzy

Output U(0..7)

( NL, NM, NS, ZE, PS, PM, PL )

The inputs are Fuzzification crisp numbers (Membership Function)

Te* (K) is PL Then T is PL All rules are evaluated in parallel

The output is a
Defuzzification crisp numbers

using Fuzzy reasoning

Fig.8. Flowchart of Fuzzy logic controller

Te (k) Te* (k) NL

NL NM PS ZE PS PM PL
NL NL NL NL NM NS ZE

TABLE 5. FUZZY LOGIC CONTROL RULES

NM
NL NL NL NM NS ZE PS

NS
NL NL NM NS ZE PS PM

ZE
NL NM NS ZE PS PM PL

PS
NM NS ZE PS PM PL PL

PM
NS ZE PS PM PL PL PL

PL
ZE PS PM PL PL PL PL

1 ZE
0.5

(Te (k))PS

PM

PL

(a)
0

0.5

0.25 NS

NL

NM

1 ZE 0.5

( Te* (k))

0.25

0.5

1 PL

PS

PM

(b)
0
0.25

0.5

0.25
NS

NL

NM

1 ZE
0.5

(Te )

0.5 PM

IV. SIMULATION AND RESULTS The conventional and proposed DTC MATLAB models were developed for 3hp IMD and the VSI input DC link voltage is 540V. The parameter values of IMD as shown in Table 6.
TABLE 6. PARAMETER AND VALUES OF THE INDUCTION MOTOR DRIVE

PS

PL

Parameters
(c)
0

0.5

0.25

0.25

0.5

Fig.7. The fuzzy membership functions of input variables (a) torque error, (b) change in torque error, and (c) output variable.

STATOR RESISTANCE (Rs) ROTOR RESISTANCE (Rr) MUTUAL INDUCTANCE (Lm) STATOR INDUCTANCE (ls) ROTOR INDUCTANCE (lr) INERTIA (J) FREQUENCY (F) PHASE VOLTAGE (U)

Nominal values 1.57 1.21 0.165 H 0.17 H 0.17H 0.089 Kg.m2 50 Hz 220V

The simulation results of conventional and proposed DTC for forward motoring operation as shown in Fig.9, and Fig.10, it represents the stator current, stator flux, developed torque at noload and full load, speed, and stator dq-axis for conventional and proposed DTC of IMD.
40 30 20 10 0 -10 -20 -30 -40 -50 0
1

0.8

Flux [wb]

0.6

0.4

0.2

0.1

0.2

0.3

0.4

Time [sec]

0.5

0.6

0.7

0.8

0.9

40

Current [Iabc, A]

Torque [N.m]

30 20 10 0 0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1

Time [sec]

0.1

0.2

0.3

0.4

Time [sec]

0.5

0.6

0.7

0.8

0.9

1200 1000

Speed [rpm]

0.8

800 600 400 200

Flux [wb]

0.6

0.4

0.2

0.1
1 0.8 0.6

0.2

0.3

0.4

Time [sec]

0.5

0.6

0.7

0.8

0.9

0.1

0.2

0.3

0.4

Time [sec]

0.5

0.6

0.7

0.8

0.9

50 40

Torque [N.m]

0.4

30 20 10 0

q-axis
0 0.1 0.2 0.3 0.4

0.2 0 -0.2 -0.4 -0.6

-10

Time [sec]

0.5

0.6

0.7

0.8

0.9

-0.8 -1 -1 -0.8 -0.6 -0.4 -0.2

1200 1000

d-axis

0.2

0.4

0.6

0.8

Speed [rpm]

800 600 400 200 0 0 0.1 0.2 0.3 0.4

Fig.10. Simulation results of proposed DTC: Stator Currents, Stator flux, Electromagnetic load torque of 30 N.m is applied at 0.6 sec and removed at 0.85 sec, rotor Speed from 0 to 1200rpm, and Stator flux dq-axis of IMD.

The simulation results of reverse motoring operation of conventional and proposed DTC of IMD as shown in Fig.11. and Fig.12.
Current [Iabc, A]

Time [sec]

0.5

0.6

0.7

0.8

0.9

40

1 0.8 0.6 0.4 0.2

20

-20

q-axis

-40
0 -0.2 -0.4 -0.6

0.2

0.4

0.6

0.8

Time [sec]

1.2

1.4

1.6

1.8

1 0.8

-0.8

Flux [Wb]

0.6 0.4 0.2

-1 -1 -0.8 -0.6 -0.4 -0.2

d-axis

0.2

0.4

0.6

0.8

Fig.9. Simulation results of conventional DTC: Stator Currents, Stator flux, Electromagnetic load torque of 30 N.m is applied at 0.6 sec and removed at 0.85 sec, rotor Speed from 0 to 1200rpm, and stator flux dq-axis of IMD.
30 20

0.2

0.4

0.6

0.8

Time [sec]

1.2

1.4

1.6

1.8

40 20 0

Current [Iabc, A]

10 0

-10 -20 -30 -40

Torque [N.m]

-20 -40 -60

0.2

0.4

0.6

0.8

Time [sec]

1.2

1.4

1.6

1.8

0.1

0.2

0.3

0.4

Time [sec]

0.5

0.6

0.7

0.8

0.9

1000

1000

Speed [rpm]

500

Speed [rpm]
0 0.2 0.4 0.6 0.8

500

-500

-500

-1000

-1000

Time [sec]

1.2

1.4

1.6

1.8

0.2

0.4

0.6

0.8

Time [sec]

1.2

1.4

1.6

1.8

1 0.8 0.6 0.4 0.2

Fig.12. Simulation results of proposed DTC: Stator Currents, Stator flux, Electromagnetic Torque, Stator flux dq-axis, and Speed reversal operation from +1200rpm to -1200 rpm of IMD.

V. CONCLUSION

In this paper, an effective control technique is presented for direct flux and torque control of three-phase IMD. In this proposed control technique the PI controller is regulating the speed of IMD and the fuzzy logic controller is reducing the stator flux and torque ripples. It is proposed a decoupled space vector control between the stator flux and electromagnetic d-axis torque hysteresis controller for generating the pulses for VSI. Fig.11. Simulation results of conventional DTC: Stator Currents, Stator flux, The two independent torque and flux hysteresis band Electromagnetic Torque, Speed reversal operation from +1200rpm to -1200 controllers are used in order to control the limits of the torque rpm, and Stator flux dq-axis of IMD. and flux. The simulation result of both conventional and proposed techniques was carried out for DTC of three-phase 40 IMD, among both of them proposed control technique is 20 superior for good speed regulator, low stator flux linkage, and 0 torque ripples under transient and dynamic state operating conditions. The simulation result shows the low stator flux -20 linkage, torque ripples and good speed regulator, with the -40 proposed DTC technique than conventional DTC technique. 0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
q-axis
0 -0.2 -0.4 -0.6 -0.8 -1 -1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1

Current [Ibac, A]

Time [sec]

1 0.8

REFERENCES
[1] F. Blaschke, The principle of field-orientation as applied to the transvector closed-loop control system for rotating-field machines, Siemens Rev., vol. 34, pp. 135-147, 1988. [2] G.S. Buja, M.P.Kazmierkowski, DTC of pwm inverter-fed AC motors A Survey, IEEE Trans. on Ind. Elec., volume 54, no. 4, 2004. [3] I. Takahashi and T.Noguchi, A new quick response and high efficiency control strategy of an induction motor, IEEE Trans. Ind. Appl., vol. 22, no. 5, pp. 820-827, 1986. [4] M. Dependrock, Direct self control (DSC) of inverter-fed induction machine, IEEE Trans. on Power Electronics, volume 22, no. 5, pp. 820827, September/October 1986. [5] Tang L., Zhong L., Rahman M.F., Hu Y., 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, 19(2), p.346-354, 2004. [6] I. Takahashi and Y. Ohmori, High-performance direct torque control of induction motor, IEEE Trans. Ind. Appl., vol. 25, no. 2, pp. 257-264, 1989. [7] P. Vas, Sensorless vector and direct torque control, Oxford University Press, 1998. [8] C. F. Hu, R. B. Hong, and C. H. Liu, Stability analysis and PI controller tuning for a speed sensorless vector-controlled induction motor drive, 30th Annual Conference of IEEE Inds. Elec., Society, 2004, IECON, vol. 1, 2-6 Nov. 2004, pp. 877-882, 2004. [9] M.N. Uddin, T. S. Radwan, and M. A. Rahman, Performance of fuzzylogic-based indirect vector control for induction motor drive, IEEE Trans. Ind. Appl. Vol. 38, no. 5, PP. 1219-1225, September/Oct. 2002. [10] B.K.Bose, Modern Power Electronics and AC Drives, Prentice Hall Indic, 2006. [11] Suresh Mikkili, A.K. Panda PI and Fuzzy Logic Controller based 3phase 4-wire Shunt active filter for mitigation of Current harmonics with Id-Iq Control Strategy, Journal of power Electronics (JPE), vol. 11, No. 6, Nov. 2011.

Flux [Wb]

0.6 0.4 0.2

0.2

0.4

0.6

0.8

Time [sec]

1.2

1.4

1.6

1.8

40 20 0

Torque [N.m]

-20 -40 -60

0.2

0.4

0.6

0.8

Time [sec]

1.2

1.4

1.6

1.8

1 0.8 0.6 0.4 0.2

q-axis

-0.2 -0.4 -0.6 -0.8 -1 -1 -0.8 -0.6 -0.4 -0.2

d-axis

0.2

0.4

0.6

0.8