G.H.

RAISONI COLLEGE OF ENGINERING

Modified Integration Method for Direct Torque

Control of Induction Motor Drives

Presented by
ABHINAV G. KHANDEKAR

Under the guidance of

Prof. J.G.CHAUDHARI

16th March 2017

 Introduction
Induction Motors(IMs) are widely used in industrial, commercial and
domestic applications as they are simple, rugged, low-cost and easy to
maintain. Since IMs demands well control performances: precise and
quick torque and flux response, large torque at low speed, wide speed
range, the drive control system is necessary for IMs.Though DC motor is
able to provide desired performance, its maintenance and unsafe in
explosive environment restricts its use. In 1970s, field oriented control
(FOC) scheme proved success for torque and speed control of induction
motor. 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. Later DTC was introduced. The method requires
only the stator resistance to estimate the stator flux and torque.
 Comparison of control types:
Control Type Torque Flux Response Advantages Disadvantages
control Control

DC Drive Direct Direct High High Accuracy Motor maintenance

Good torque response High motor cost
Simple Encoder required for high
accuracy

Scalar Frequency None None Low No encoder Low accuracy

Control Simple Poor torque response

Flux Vector Indirect Direct High High Accuracy Encoder always required
Control Good torque response

Direct Torque Direct Direct High No encoder Encoder required for high
Control Moderate speed speed accuracy
accuracy
Excellent torque
response
Comparison of control variables:
DRIVE CONTROL VARIABLES

DC Drives Armature Current, Ia

Field Current, If

AC Drives (PWM) Output Voltage. V

Output Frequency, f

Field oriented (Vector) controlled Rotor flux current id

Drive Torque current iq

Direct Torque Control Drive Motor Torque, T

Motor Magnetising Flux, ψ
 Controlling

Vector control Scalar control

DTC FOC V/F

 DTC
• Three phase AC supply is given to the diode bridge
rectifier which produces a DC voltage.
• A high value dc link capacitor is used to reduce the
ripple content in the DC voltage.
• The filtered DC is the power supply to the inverter
switches.
• The IGBT inverter switches are controlled by the direct
torque control algorithm.
• The output of the inverter is connected to the stator
terminals of induction motor.
 SVM DTC
• Flux and torque estimators are used to determine the
actual value of the flux linkage and torque.
• PI controller and numeric calculation are used to determine
the duration time of voltage vectors, such that the error
vector in flux and torque can be fully compensated.
• Two proportional integral (PI) type controllers regulate the
flux and torque error.
• SVM block. The SVM block performs the space vector
modulation of Vs to obtain the gate drive pulses for the
inverter circuit.
 Comparison Property Direct Torque Control Field oriented(Vector)
Control
Cordinates reference frame d,q (stator stationary ref d,q (rotor)
frame)
Controlled variables Torque and stator flux Rotor flux,torque current iq
and rotor flux current id
Parameter sensitivity Stator resistance d,q inductances,rotor
resistance
Rotor speed measurement Not required Required

Cordinate transformations Not required Required

Switching losses Lower Low
Typical control cycle time 10 to 30 micro seconds 100 to 500 micro seconds
Complexity/Processing Lower Higher
requirements
 Offset Error
• Offset error arises from DC component which
results after transient change.
• Offset error can also produce by current and
voltage sensors.
• It can not be rectified by calculation alone.
• Offset is unpredictable & it changes with
temperature.
• It is observed that there is a drift in stator flux
locus due to offset error in flux linkage
estimation.
Stator flux locus with and without Offset
 Integrators
Vs = RsIs+dΨs/dt (1)
 
Ψs = ʃ (Vs - IsRs) dt (2)
 
= ʃ es dt (3)
• 1/s is the Laplace equation of the pure
integrator.
• 1/(s+Wc1) is the Laplace equation of first
order LPF.
• s/(s+Wc2) is the Laplace equation of first order
HPF.
 Analysis of problem:
• To analyze the problem of an integrator in the
practical implementation, a pure sine signal
and a pure DC signal are separately applied.
 BLOCK DIAGRAM

1st order DTC

HPF Elimination
LPF (flux estimation)
 New integrator design:
• LPF= (1/s+wc1)
• HPF=(s/s+wc2)
• The optimal coefficient of for LPF is k1 which is set
to be 0.2-0.3.
• Similarly for HPF optimal coefficient is k2, which is
denoted by k1/2.
• Simulation is carried out at the value
k1=0.2,k2=0.1,w0=0.01wn
• wn is the rated frequency.
New Integrator frame:
• Simulation model of Modified DTC
 Compensation formula:
Electrical system equations:
vs = Rs is + 1/wo (dfs/dt) + wk M(π/2) fs (4)
vr = Rr ir + 1/wo (dfr/dt) + (wk - wm) M(π/2) fr (5)
where the variables i, v, and f are 2-dimensional space vectors; for instance
is = [ids iqs] (6)
wk speed of the reference frame, wm the rotor speed,
and M(π/2)represents a 90 degree space rotator namely M(π/2) = [0 -1;1 0]
The flux linkage current relations are:
fds = Ls ids + Lm idr (7)
fdr = Lm ids + Lr idr (8) (D_axis)

fqs = Ls iqs + Lm iqr (9)

fqr = Lm iqs + Lr iqr (10) (Q_axis)
Integrator model of IM
Three phase inverter
Locus with Error:
Desirable Stator flux Locus :
 Rotor flux angle

time
 Torque :

Torque

Time
The main advantages offered by DTC are:
• Decoupled control of torque and stator flux
• Excellent torque dynamics with minimal response
time.
• Inherent motion-sensorless control method since the
motor speed is not required to achieve the torque
control.
• Absence of coordinate transform (required in FOC)
• Absence of voltage modulator as well as other
controllers
•Robust for rotor parameter variation. Only the stator
resistance is needed for torque and
flux estimation.
PROPOSED SCHEDULE OF WORK
Month Proposed work
July Survey and finalize the topic
August MATLAB simulation

September October MATLAB modeling

November System design

December 1st paper publication

January Hardware verification
February 2nd paper publication

March Hardware result comparison

April Thesis submission

 REFERENCES
1) Jaebok Lee, Swamidoss Sathiakumar, Yash Shrivastava,” Integration Method to
Estimate stator flux in induction motor with dc offset error”, IEEE 2013 Tencon –
Spring.
2) Cristian Lascu, Gheorghe-Daniel Andreescu,“Sliding-Mode Observer and
Improved Integrator With DC-Offset Compensation for Flux Estimation in Sensor
less-Controlled Induction Motors,” IEEE TRANSACTIONS ON INDUSTRIAL
ELECTRONICS, VOL. 53, NO. 3, JUNE 2006
3) Maurizio Cirrincione, Marcello Pucci, Giansalvo Cirrincione,” A New Adaptive
Integration Methodology for Estimating Flux in Induction Machine Drives”, IEEE
TRANSACTIONS ON POWER ELECTRONICS, VOL. 19, NO. 1, JANUARY 2004.
4) Nik Rumzi Nik Idris, Abdul Halim Mohamed Yatim,” An Improved Stator Flux
Estimation in Steady-State Operation for Direct Torque Control of Induction
Machines”, IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. 38, NO. 1,
JANUARY/FEBRUARY 2002.
THANK YOU!