Direct Torque Control of

Induction Machine
Dr. Nik Rumzi Nik Idris

Department of Energy Conversion,
Faculty of Electrical Engineering,
Universiti Teknologi Malaysia
High performance induction motor drives
Field Oriented Control - FOC
Direct Torque Control - DTC
Basic Principles of DTC
Basic Principles of DTC
T
ref

Voltage
vector
selector
Voltage
Source
Inverter
Stator flux
and
torque
estimator

ref

+
_
+
_
IM
u

T
+ V
dc
-
S
a

S
b

S
c

Stator flux and torque control within hysteresis bands
Voltage vector selected based on stator flux and torque demands
Basic Principles of DTC
How the voltage vectors control the flux?
How the voltage vectors control the torque?
These questions will be answered in the
following slides
Basic Principles of DTC
r r
r
r r
j
dt
d
i R '
'
' 0 e

+ =
Space vector equations of IM :
dt
d
i R v
s
s s s

+ =
Basic Principles of DTC
Space vector equations of IM :
r m s s s
i L i L ' + =
s m r r r
i L i L + = ' '
Basic Principles of DTC
From stator voltage equation :
s s s
s
i R v
dt
d
=

t v
s s
A = A
Neglecting drop across R
s
:
Direct Flux Control
Basic Principles of DTC
Voltage vectors for 3-phase VSI
( )
t
3
2
2
3
2
, ) ( ) ( ) ( ) (
j
c b a s
e a where a t S a t S t S V t v = + + =
Direct Flux Control
Direct Flux Control
A
Hysteresis
Flux band
100
110 010
011
101 001

s
s
Basic Principles of DTC
Basic Principles of DTC
I
Sector II
Sector III Sector IV
Sector V
Sector VI
Sector I
60
o

Direct Flux Control
d
q
Basic Principles of DTC
Direct Flux Control
v
s,3

v
s,3

v
s,3

v
s,2

v
s,4

v
s,4

Sector I
Sector II
Hysteresis
band
v
s,3

v
s,2

v
s,6

v
s,5

v
s,4

v
s,16

Voltage vector vs,2
and vs,3 in sector I
Voltage vector vs,3
and vs,4 in sector II
If the flux in k
th
sector
k +1 vector increases +
k + 2 vector reduces +

Basic Principles of DTC
0

ref
+ A/2

ref
- A/2
A/2
- A/2
Flux error

Flux

Flux
Error
Status

0

1

t

ref

t

t

+
0
+
ref
+
_
1
0
A
Flux
error
status
Flux
error
Direct Flux Control
IM torque equation
Basic Principles of DTC
sr r s
r s
m
elec
L L
L
t o
o
sin
2
3
=
Direct Torque Control
It can be shown that
Basic Principles of DTC
r
s
r
L
L
r
r
p
s
m

ot

+
=
1
Rotor flux follows the stator flux with a
time constant ot
r

Direct Torque Control
Basic Principles of DTC
t = t
1

t = t
1
+ At
t = t
1
+ At
Rotate
continuously
Rotate
continuously
Rotate
continuously

s

Applying voltage
vectors rotating
in the same
direction
Applying voltage
vectors in
opposite
direction or zero
voltage vectors
d
q
q
q
d
d
u
sr
u
sr

r

u
sr

Direct Torque Control
Three cases are considered :
Basic Principles of DTC
Case 1
Forward active voltage vectors
stator flux increases or decreases
Increases o
sr

Increases Torque
Direct Torque Control

Case 2
Zero voltage vectors
stator flux stops
Decreases o
sr

Decreases Torque
Basic Principles of DTC
Direct Torque Control

Case 3
Reverse active voltage vectors
stator flux increases or decreases
Decreases o
sr
rapidly
Decreases Torque rapidly
Basic Principles of DTC
Direct Torque Control
Basic Principles of DTC
Torque
Torque
reference
AT/2
AT/2
AT
Torque error
Speed
Torque error status
-1
T
T
ref

+
_
1
0
AT
1
-1
0
Direct Torque Control

By limiting the torque and flux within
their hysteresis bands, de-coupling of
torque and flux can be achieved
Basic Principles of DTC
Basic Principles of DTC
T
ref

Voltage
vector
selector
Voltage
Source
Inverter
Stator flux
and
torque
estimator

ref

+
_
+
_
IM
u

T
+ V
dc
-
S
a

S
b

S
c

Stator flux and torque control within hysteresis bands
Voltage vector selected based on stator flux and torque demands
Basic Principles of DTC
Selection table for optimum switching pattern
Counterclockwise Sec I Sec II Sec III Sec IV Sec V Sec VI
Inc Flux Inc T(01) 100 110 010 011 001 101
(0) Dec T(00) 000 111 000 111 000 111
Dec Flux Inc T(01) 110 010 011 001 101 100
(1) Dec T(00) 111 000 111 000 111 000
Clockwise Sec I Sec II Sec III Sec IV Sec V Sec VI
Inc Flux Inc T(10) 001 101 100 110 010 011
(0) Dec T(00) 000 111 000 111 000 111
Dec Flux Inc T(10) 011 001 101 100 110 010
(1) Dec T(00) 111 000 111 000 111 000
Stator Flux and Torque Estimation
Accurate estimation to ensure proper
operation and stability
Various methods proposed
voltage model
current model
closed-loop observer
Stator Flux and Torque Estimation
Stator flux- voltage model

}
= dt R i v
s s s
) (
Problems:
dc drift
stator resistance variation

Stator Flux and Torque Estimation
Torque estimation
( ) ( )
s s
i j
2
p
5 . 1 T + =
( )
sd sq sq sd
i i
2
p
5 . 1 T + + =
In d-q form

( )
*
s s
i Im
2
p
2
3
T =
Implementation of DTC
Basic I/O requirements:
Phase Current measurement
DC Link Voltage measurement
Speed measurement from Incremental
Encoder for closed-loop speed control
(optional)
Fast processor to reduce torque ripple
Implementation of DTC
Experimental Results
From oscilloscope
55s sampling, 240V, HP IM
Step speed reference
Speed
Current
Torque
d-flux
Experimental Results
Square wave speed reference
Speed
Current
Torque
From oscilloscope
55s sampling, 240V, HP IM