Journal of Electrical Engineering: Theory and Application (Vol.1-2010/Iss.

2)
Hidouri and Sbita / Water Photovoltaic Pumping System Based on DTC / pp. 111-119

Water Photovoltaic Pumping System Based on

DTC SPMSM Drives
Noureddine Hidouri*, Lassad Sbita **
* Department of Renewable and Conventional Energies, High Institute of Energy Sciences and Technology
ISTTE, Street Tozeur, Sidi Ahmed Zarrouk , Gafsa, Tunisia
tel/fax: +216 98662038
e-mail: noureddine.hidouri@yahoo.fr

** Department of Electrical and Control engineering, National

Engineering School of Gabes, Zrig, Gabes 6029, Tunisia
tel/fax: +216 75392100
e-mail: lassaad.sbita@enig.rnu.tn

Submitted: 01/02/2010
Accepted: 18/04/2010
Appeared: 30/04/2010
HyperSciences.Publisher

Abstract This paper studies the Direct Torque Control of a Salient Permanent Magnet Synchronous Motor
(PMSM) associated to a water photovoltaic pumping system. The motor is used to drive a centrifugal water pump; it
receives the adequate voltage vector from the inverter that is fed with DC voltage from photovoltaic panel through a
boost converter. In this study, a boost converter and a rotor flux observer are developed and used in the control. How
to compute flux level from torque command is developed on the basis of direct current equal to zero. Mathematical
relations treating these terms are presented and studied. In a second stage, a completely vectored flux control
criterion is proposed and discussed. The simulation results have shown that the proposed methodology is an efficient
control procedure

Keywords: DTC, PMSM, Photovoltaic pumping system, Boost converter, rotor flux observer.
E g : Band gap energy of the semiconductor (eV ) ,

NOMENCLATURE

K SCT : Short circuit current temperature coefficient ( A / qC ) ,

G : Global insulation (W / m 2 ) ,

k : Solar cell ideal factor (1.45) ,

Gref : Reference insulation (W / m 2 ) ,

ns : Number of series cells modules,

N s : Number of series modules,

I ph : Light-generated current source ( A) ,

N p : Number of parallel modules,

I ph _ ref : Reference light-generated current source ( A) ,

q : Electron charge (1.6022e-19) ,

T : Boost converter operating PWM signal period ( s )

I sc : Short circuit current ( A) ,

I sc _ ref : Reference Short circuit current ( A) ,

E : oltzman constant (1.3807e-23) ,

I p : Panel current ( A) ,

vs : Inverter voltage vector (V ) ,

I rs : Reverse diode saturation current ( A) ,

i s : Stator current vector ( A) ,

I c : Cell current ( A) ,

M s : Stator flux vector (Wb) ,

M r : Rotor flux vector (Wb) ,
T r : Electric rotor position (q) ,

Tc : Cell junction temperature (qC ) ,

Tc _ ref : Reference cell temperature (qC ) ,

D : Boost converter duty cycle PWM signal,

Vc : Cell voltage (V ) ,
V p : Panel voltage (V ) ,

) r : Rotor flux vector magnitude (Wb) ,

Z r : Electric rotor speed (rad / s) ,

p : Machine pair pole number,
: Imaginary part quantity,
Cr : Centrifugal pump hydraulic load torque ( N .m)

R pc : Parallel cell resistance (:) ,

Rsc : Series cell resistance (:) ,

Copyright 2010 HyperSciences_Publisher. All rights reserved

111

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Journal of Electrical Engineering: Theory and Application (Vol.1-2010/Iss.2)

Hidouri and Sbita / Water Photovoltaic Pumping System Based on DTC / pp. 111-119

many authors proposed different models of the solar cell ,

[Kuei-Hsiang and al. (2008), R. Chenni and al. (2007), A.
Saadi and al. (2007), Huan and al. (2008), Tian (2009), LlSong. (2006), K. belarbi and al. (2004), Toni Bjazic and al.
(2008)]. In this work, the electric model of a solar cell is
given by fig. 1. [Kuei-Hsiang and al. (2008), Ll-Song.
(2006)].
Rsc
Ic

f m : Motor friction coefficient ,

a0 , a1 and a2 : Manufacture pump coefficients,
PH : Hydraulic power centrifugal pump (W ) ,
Tcom : Inverter commutation period ( s ) .

1. INTRODUCTION
The isolated sectors and the rural zones needed the use of
the renewable energy source as the solar energy to produce
the needed electric energy for such application as the
pumping systems. The photovoltaic PV water pumping
systems are usually composed of PV generator, power(s)
converter(s) and an electric motor which is usually coupled
to a centrifugal pump load. Recently, the technological
development progress of the photovoltaic cells is
accompanied with the decreasing of the PV generator cost.
The maximum power of the PV system varies mainly with
the insulation and the temperature. The operating point off
the system alters with the dynamic of some loads. This
consideration carries out to think about the adequate way
to drive the associated converters, in order to adapt the
system automatically. Currently, for the power
conditioning, the PV generator is followed by a DC-DC
converter. Many types are used such as boost, buck and
boost-buck converters. Many researches are developed in
order to prove the most compatible type in terms of power
optimization. It is declared, in some research work, that the
boost DC-DC converter is the most appropriate solution
for maximum power tracking, [Hua and al (1998), Atlas
and al (1996), Martins and al. (1998)]. Different types of
motors are used in the photovoltaic water pumping system.
The DC motor is used in the photovoltaic water pumping
system with different coupling mode. The asynchronous
motor is also used with different control strategy. Some
recently application of the pumping system calls for the
Permanent Magnet Synchronous Motors (PMSM). The
absence of the external excitation and the coils in the rotor
reduce the maintenance cost and increase the efficiency of
the PMSM as a drive system. The essential inconvenient of
PMSM is the important non linearity of the developed
torque that can introduce undesirable transient torque
oscillations for heavy load operating points. In terms of
available control schemes of rotating electrical machines,
Direct Torque Control (DTC) method [I. Takahashi and al.
(1985), Mr. Depenbrok. (1985)] and the most DTC- based
approaches [L. Zhong and al (1997), J. Luukko. (2000), N.
Hidouri and al. (2004a), N. Hidouri and al. (2004b), N.
Hidouri and al. (2007)] have shown that excellent fast
torque response can be obtained by controlling accurately
stator flux vector

I ph

ID

R pc

Vc

Fig . 1. Equivalent solar cells electric circuit.

At the reference condition defined by the cells junction
temperature Tc _ ref
and the insulation Gref , the
photocurrent I ph _ ref is equal to the reverse saturation
current I sc _ ref .
The cells photocurrent I ph at the desired cells junction
temperature Tc and the insulation G can be deduced from
the data given at the reference condition by equation (1),
[R. Chenni and al. (2007), A. Saadi and al. (2007)].
I ph

G
I sc _ ref  K SCT Tc  Tc _ ref
Gref

(1)

The desired reverse saturation current I rs is also obtained

from the reference condition according to relation (2), [R.
Chenni and al. (2007), Tian. (2009), Huan and al. (2008)].

I rs

I rs _ ref

Tc

Tc _ ref

qEg

exp
E k

1
1

T
T
c _ ref
c

(2)

The characteristics equation related the cells current I c

to its voltage Vc is given by (3), [Huan and al. (2008), LlSong. (2006), Toni Bjazic and al. (2008)].
Ic

V  R I 
q
I ph  I rs exp(
Vc  Rsc I c   1  c sc c
kT
Rpc
E
c

(3)

The solar panel is composed of N p groups of modules

assembled in parallel; each group is composed of
N s modules assembled in series. A module comprises
ns cells associated in series configuration.

2. THE WATER PHOTOVOLTAIC PUMPING SYSTEM

MODELS

This consideration expresses the relations between the

panels and the cells parameters, relation (4), [Ll-Song.
(2006)].

2.1 Cells and PV Model

The solar cells is an electric component that converts light
energy into electricity. In order to prove their studies,

112

Journal of Electrical Engineering: Theory and Application (Vol.1-2010/Iss.2)

Hidouri and Sbita / Water Photovoltaic Pumping System Based on DTC / pp. 111-119

I p N p Ic

V p ns N sVc

ns N s
Rsc
Rsp
Np

ns N s
R pp
R pc
Np

diL1

Vin L1 dt  RL1iL1  Vc1

diL 2
V
c1 L2 dt  RL 2 iL 2

1
Vout Vc 2
iC 2 dt
C

iC 2 iout Vout

Rout

(4)

In this consideration, the non-linear characteristics

equation related the panels current I p to its voltage V p is

Considering the system illustrated by equation (6), the

state space representation of the boost converter with
respect to the D T interval can be deduced as:

given by (5).
Ip

q
N p I ph  N p I rs exp

E
kT
c

N p Vp
R I

 sc P

R pc ns N s
N p

Vp
R I
 sc P

n
N
Np
s s

 1

(5)

In this work, we consider that the electronic components

are assumed to be ideal. This idea leads to consider that,
restively to the IGBT, both voltage on the switched on
drop and current through the switched off are equal to
zero. In the other hand, we consider equal to zero both
reverse current and forward voltage of the diode. Also, the
losses relatively to capacitive and inductive elements are
neglected.

 L1 , RL1 

 L2 , RL 2  IL2

C1

Vout

>0

VC1

VC 2 Vout

1
L
1

R
 L2
L
2
1

C
1

1
L
2

i
1
L1
L
0
i
1
L2  V
0
V in
C1 0
0
V
C 2 0
1

R C
out 2
0

0 0 1@>iL1 iL 2 VC1 VC 2 @ t

(7)

(8)

off and the diode is switched on. This topology gives the
following differential equations:

Vin

V
c1

Vout

iC1

iC 2

I out

C2

Considering the 1  D  T interval, the IGBT is switched

IC 2

I C1

Vin

R
 L1
L1

1
C
1

x
i

L1
x
i

L2
x
V c1

x
V
c
2

2.2 Boost converter model

IL1

(6)

Rout

Fig. 2. Proposed boost converter structure.

Relatively to the boost-converter command, the IGBT state
is defined by the PWM signal that is characterized by the
duty cycle D and the operating period T .
During the considered operating time period T , the IGBT

diL1
 RL1iL1  Vc1
dt
di
L2 L 2  RL 2 iL 2  Vc 2
dt
1
Vc 2
iC 2 dt
C2

L1

(9)

iL1  iL 2
iL 2  iout

The state space representation of the boost converter for

this interval can be deduced as:

is switched on in D T and switched off in 1  D  T

intervals. This consideration shows the way to study the
behaviors of the converter with respect to the switching on
and off intervals.

iL1
x

iL 2
x
V c1
x
V c 2

As a first consideration, one can focus on the D T interval

where the IGBT is switched on, however, the diode is
normally switched off. This situation yields to the
considered following established differential equations
indicated by the system (6):

Vout

113

RL1
 L
1

C1

>0

1
L1

RL 2
L2

1
L2

1
C1

1
C2

1 iL1


L2 iL 2
V
0 C1
VC 2
1


Rout C2
0

1
L
1
0 Vin

0
0

0 0 1@>iL1 iL 2 VC1 VC 2 @ t

(10)

(11)

Journal of Electrical Engineering: Theory and Application (Vol.1-2010/Iss.2)

Hidouri and Sbita / Water Photovoltaic Pumping System Based on DTC / pp. 111-119

During the operating interval, the model of the converter is

obtained by merging the two state models presented above
relatively to the two intervals with respect to the three
mentioned rules, [Toni Bjazic.(2008)]:
-

When Park synchronous reference frame with the rotor is

used, (14) becomes as follows:
Rs I s  jZr ) s 

Vs

the elements that appear only at the D T interval are

multiplied by factor D ,
the elements that appear only at the 1  D  T interval

) sd

the elements that appear both in the D T and the

1  D  T

intervals are unchanged.

iL1
x

iL 2
x
V c1
x
V c 2

Vout

RL1
 L
1

C1

>0

1
L1

RL 2
L2

1
L2

1
C1

1D
C2

1  D iL1


L2 iL 2
V
0 C1
VC 2
1


Rout C2

1
L
1
0 Vin

0
0

(12)

is*e 2 jTr  

)r

Mr

Ld I sd
) sd

Tr

Fig. 3. Flux phases diagram of Park components.

Ld
is  is* e 2 jTr
2

2.4 Centrifugal pump model

by the

The centrifugal pump model can be described by the

famous characteristic illustrated by relation (24), [A. Saadi
and al. (2007), K. belarbi and al. (2004)].

(15)
h

) r e jTr

*
 p ( M s . is )

p (M sd isq  M sq isd )

a0Zr2  a1Zr Q  a2 Q 2

(24)

The hydraulic power PH and the load torque Cr of the

centrifugal pump can be described respectively by (25) and
(26).

(16)

(17)

PH

U gH

(25)

Cr

k r : 2  Cs

(26)

The mechanical model of the electric motor can be

described by (27).

Developing (17) leads to:

Cem

Lq I sq

Ts

The electromagnetic torque is given by (17).

Cem

(23)

Ms

The magnitude ) r of the rotor flux vector Mr is constant

so that we have at any instant:

Mr

) s sin(G )

(14)

rotor flux M r and electric rotor position T

following equation :

i 

) sq

)s

The stator flux vector M s is linked to the stator current i s ,

Lq

(22)

) sq

In the Concordias stationary reference frame, applied to

the phasors machine, the ohms law is given by
equation(14)

Ms Mr 

) s cos(G )

(13)

dM s
dt

(21)

Lq I sq

) sd

2.3 Salient PMSM Models

Rs is 

(20)

Fig. 3 gives the phases diagram of these equations. The

angle G corresponds to stator flux vector position with
respect to the rotor flux vector. Thus we have:

0 0 1@>iL1 iL 2 VC1 VC 2 @ t

vs

) r  Ld I sd
) sq

According to the three mentioned rules, the averages

boost converts model is given by:

(19)

The components of stator flux vector are linked to those of

current vector by:

are multiplied by factor 1  D  ,

-

d )s
dt

(18)

114

Journal of Electrical Engineering: Theory and Application (Vol.1-2010/Iss.2)

Hidouri and Sbita / Water Photovoltaic Pumping System Based on DTC / pp. 111-119

Cem

Jm

d :m
 f m : m  Cr
dt

The sampling period Tcom separating two successive

sampling moment tk and tk 1 is sufficiently small so that
the voltage vector can be considered as a constant during
this period.

(27)

3. CONTROL CRITERION AND ROTOR FLUX

OBSERVER SYNTHESIS:

At a moment tk 1 , stator flux takes the value M

. The
sk 1
variation of the stator flux can be sufficiently estimated by
using a development of first order of the Taylor series.
Related to those assumptions, we can express:

To control the PMSM with direct current equal to zero

allows establishing the electromagnetic torque in a similar
way as a separately excited D.C motor. This implies:
p) r I sq

Cem

dM
M sk 1 M sk  sk
dt

(28)

Under these conditions, the amplitude of stator flux is

related to the electromagnetic torque by:
)s

2
) r 1  K q2 Cem

Kq

Lq
p) r2

is

 is e

2 jT r

(29)

Lq is  Mr

Rs is  Lq

er

dMr
dt

dis
 er
dt

jZr e jTr

and the stator flux M

(30)

sk

Mrk

(31)

(34)
k

(35)

rk
are related to the stator current

M sk  Lq i

(36)

sk

Equations (35) and (36) show that, the rotor flux can be
easily estimated from the motor parameters and the
measured stator voltage and current.

(32)

To construct an adequate observer that allow the module

and the argument of the rotor flux estimation, the used
command observers vector including the stators voltage
and current u vs is .

(33)

The adapted states vector is composed of the stator vector

flux M s . The vector to be observed is that of the rotor flux
designed by Mr . The correction step of the estimate is
made while considering the magnitude of the observed
variable. Hence, the synthesised observer is described in
the equation (37):

is
Rs

er

sk
dt

i :
sk

Thus, the model of the PMSM with a zero direct current

component strategy is described by the fig .4.

Lq

dM

The direct current is set equal to zero, the rotor flux M

By exploiting the expression of the flux (31) and under

these conditions the equation (14) changes into (32).
vs

 t ) M  Tcom
k
sk

M sk 1 M sk  Tcom (v  R i )
s
ss k

The combination of equations (15) and (30) leads to (31):

Ms

k 1

Let us take account of the equations (14) and (34) we can

write:

The stator current and its conjugate are related by:

*

(t

vs

Msk 1

Mrk

Fig. 4. Model of PMSM with zero direct courant

component.
3.1 Rotor flux observer

A C

Let us consider the moment tk , where the stator voltage,

the stator current, stator flux and rotor flux are respectively
vsk , isk , M sk et Mrk .

AM

)e
 B u  G ()  )
sk
k
obs r
rk

jT
rk

(37)
C Msk  D u

1 ;B

>Tcom

 RsTcom @ ;

0  Lq

In addition, the estimated rotor flux can be expressed by

(21) :

Mrk

115

e jTrk
)
rk

(38)

Journal of Electrical Engineering: Theory and Application (Vol.1-2010/Iss.2)

Hidouri and Sbita / Water Photovoltaic Pumping System Based on DTC / pp. 111-119

&
minimum. Its important to notice that the criterion of H

The position of the rotor at the moment tk is:

Trk

arg(Mrk )

error is used as itis done in [N.Hidouri and al. (2004a),

N.Hidouri and al. (2004b), N.Hidouri and al. (2007)].

(39)

4. SIMULATION RESULTS

The estimated electromagnetic torque is:

C

*
 p ( M . i s )
em
s

4.1 Validation of the direct torque control applied to the

PMSM.

(40)

Initially, the motor is stopped. One applies a step target of

the reference torque equal to the rated motor torque at a
time t = 0.5 s , (fig.5). The torque response (fig.6) as well as
the electric speed of the rotor (fig.7) converges towards
their target ones (rated values). The direct current id (fig.8)
is a good agreement with zero value as a command value.
Then the quadratic current response (fig.9), goes to
converges towards the nominal value of the motor current
as an image of the torque. The magnitude and the angle of
estimated rotor flux (pu) are respectively given by (fig.10)
and (fig.11).

The development of (23) leads to:

p (Md iq  Mq id )

C em

(41)

3.2 The proposed control strategy

In the classic DTC control scheme, the two independent
commands are considered separately which are the
reference torque Cref and the reference stator flux ) sref .
Here, these two entries are dependant so each other.
The reference flux ) sref can be obtained from Cref as

1.5

M sref

) sref e

jT sref

Reference torque (pu)

previously indicated by (29). In addition, the control of the

torque is transformed into a phase control of the stator
vector flux by forcing this vector to reach the reference
vector defined in the Concordias stationary reference
frame by:

1.5

1.5

1.5

Electromagnetic torque (pu)

1.5

0.5

0
0

0.5

Temps (s)

(43)

Fig. 6. Response of the torque (pu)

1.5

Electric rotor speed (pu)

Thus, the argument of the reference flux is given by:

Tr  G ref

Fig. 5. Reference torque (pu)

variables are related, which leads to:

T sref

0.5

Temps (s)

defined by the commands ) ref et Cref . Here these two

Lq Cref
arctg
2
p) r

0.5

0
0

(42)

To reach this goal, the angle G variation between the

instantaneous stator and rotor flux vectors has to be say
maintained constant and equal to a reference value G ref

G ref

(44)

In addition, based on the fact that the inverter vector

voltage is constant over one commutation period Tcom , The
variation of the stator vector flux between two moments k
et k  1 , fixing the beginning and the end of this period is
given by the relation below, [N. Hidouri and al. (2004a),
N. Hidouri and al. (2004b), N. Hidouri and al. (2007)].
(45)

H (k  1) M s (k )  Tcom .v s  M ref (k  1)

(46)

0.5

0
0

0.5

Temps (s)

Fig. 7. Response of the rotor electric speed (pu)

0.1

Direct current (pu)

M sk 1 M sk  Tcom v sk

0.05

-0.05

-0.1
0

0.5

Temps (s)

Then this error is calculated for all the seven inverter

voltage vectors and one considers that ensuring the same

Fig. 8. Response of the direct current (pu)

116

1.5

Output Boost convverter voltage (V)

Journal of Electrical Engineering: Theory and Application (Vol.1-2010/Iss.2)

Hidouri and Sbita / Water Photovoltaic Pumping System Based on DTC / pp. 111-119

Quadrature current (pu)

1.5

0.5

0
0

200
150
100

1.5

0.5

300
250

50
0
0

Temps (s)

Fig. 13. The output boost converter voltage (V)

Fig. 9. Response of the quadratic current (pu)

Panel current (pu)

Rotoric flux magnitude (pu)

1.5

0.5
0

1.5

0.5

Temps (s)

2
1
0

-2
0

1.4999

1.4998

1.5

0.5

1.5

Temps (s)

1.5

0.5

1.04
1.02
1.4997

-1

Temps (s)

Fig. 14. The panel current (pu)

Fig. 10. Response of the estimated rotor flux magnitude

(pu)

Capacitance C1 current (pu)

Rotoric angle flux (rad)

0.2
0
-0.2
1.499 1.4992 1.4994 1.4996 1.4998 1.5
0

-5
0

0.5

1.5

Temps (s)

0
0

1.5

0.5

Fig. 14. The capacitance C1 current (pu)

Temps (s)

Inductance L2 current (pu)

Fig. 11. Response of the angle of estimated rotor flux (pu)

4.2 Analyzes physical sizes relating to the photovoltaic

panel and the boost converter

1.5
1
0.5
1.499 1.4992 1.4994 1.4996 1.4998 1.5

6
4
2
0
-2
-4
0

0.5

1.5

Temps (s)

The command of the boost converter is based on the DC

voltage required by the inverter equal to 255 V. This value
is computed as a reference boost voltage term. The figures
12 and 13 give respectively the panels and the output
boost converter voltages. The second one (fig.13)
converges towards the required DC voltage according to
the first one. With consider the rated motor current as a
base value, fig.14, fig.15 and fig.16 give respectively the
panel current (pu), The capacitance C1 current (pu) and
The inductance L2 current (pu). These figures show that
panel current is perfectly continuous with a good choice of
the capacitance value relatively to that of the inductance.
The alternative current component of the inductance
current is absorbed through the capacitance.

Fig. 15. The inductance L2 current (pu)

5. CONCLUSION
This paper deals with a simulation study based on a new
scheme of a DTC SPMSM to drive a water photovoltaic
pumping system. The PV panel model is presented in a
rigorous way to be so closed to the reality. For the
proposed control scheme, a modeling effort was dressed
covering the system components and the adopted drive
strategy. The power converter models are established in an
easy way to implement. The DTC algorithm complexity is
reduced based on the idea to force the direct current to zero
yielding to a relationship between the flux and torque
commands. The same idea supports the synthesis of rotor
flux observer by deducing the relationship between the
rotor flux and on the other hand the stator flux and current.
Hence, the rotor position is observed too. A sensorless
rotor position drive is obtained avoiding drawbacks of a
mechanical transducers use. The PV voltage terminal feeds
a boost converter to ensure the inverter needed DC bus
voltage using the new DTC scheme. An extensive
simulation work permits the selection of significant results
highlighting the validity of the hole proposed high

Panel voltage (V)

300

250

200

150

100
0

0.5

1.5

Temps (s)

Fig. 12. The panel voltage (V)

117

Journal of Electrical Engineering: Theory and Application (Vol.1-2010/Iss.2)

Hidouri and Sbita / Water Photovoltaic Pumping System Based on DTC / pp. 111-119

REFERENCES

dynamic PV water pumping DTC system. The

experimental system investigations are the subject of a
follow up research work.

Atlas I.H, A.M. Sharaf. (1996) .A novel On-Line MPP

Search Algorithm for PV Arrays. IEEE. Trans. EC, vol
11, 748-754.
A. Saadi, A. Moussi. (2007). Optimisation of Back-boost
converter by MPPT Technique with a Variable
Referance Voltage Applied to Photovoltaic Water
Pumping System under Variable Weather condition.
Asian Journal of Information Technology, volume 6(2),
222-229.

Appendix

Table 1. Parameters of Pv Cell (Polly-crystalline silicon)

Open circuit voltage: Voc

0.6058 V

Short circuit current : I sc

8.1 A

Parallel cells resistance: R pc

0.833 :

Series cells resistance: Rsc

0.0833 m:

Solar cells ideal factor : k

reverse diode saturation current I rs
Short circuit current temperature
coefficient K SCT

1.450
3.047e - 7 A

Reference cells temperature: Tc _ ref

25qC

Boltzmanns constant: E
Band gap energy: E g

1.38e - 23
1.11ev

Hua and C.Shen. (1998). study of Maximum Power

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1.73e - 3 A / q K

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and High-Frequency Control Strategy of an Induction
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Table 2. Parameters of Pv module

Open circuit voltage: Voc

216W
36.35 V

Number of series cells: ns

60

Rated output power

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synchronous Machine Analysis and implementation.
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Table 3. PV Array Parameters

Open circuit voltage: Voc

254.45 V

Short circuit current : I sc

8.1 A

Number of series modules: N s

Number of parallel modules: N p

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(2008). Modeling and fault diagnosis of a photovoltaic
system. Electric Power Systems Research, vol 78, 97
105.

Table 4. PMSM Motor Parameters

Rated voltage

Vs

208 V

Rated current I N

3A

Rated torque CemN

1.9 N . m

Rated speed : N
Pole pairs p

188.495 rad / sec

Rotor flux ) r

Stator resistance Rs

L. Zhong, Mr. F. Rahman W.Y and. Hu. (1997). Analysis

of Direct Torque Control in Permanent Magnet
Synchronous Motor Drives. IEEE Transactions one
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0.3140 Wb
1.93 :

d-axis inductance Ld
d-axis inductance Lq

42.4 mH

Inertia moment J

0.003 kG m2
255 V

Inverter dc voltage Vdc

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79.9 mH

Mr. Depenbrok. Direct SelfControl (DSC) of Inverter Fed

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118

Journal of Electrical Engineering: Theory and Application (Vol.1-2010/Iss.2)

Hidouri and Sbita / Water Photovoltaic Pumping System Based on DTC / pp. 111-119

N. Hidouri, F. Bacha, O. Hasnaoui, R. Dhifaoui. (2004a).

An Optimal Current-Based Semi Direct Torque Control
Scheme For a Salient Poles PMSM. Electromotion
Journal, Vol. 11, No. 2.

AUTHORS PROFILE

N. Hidouri is born in Sened in 1969. He

obteined a diploma of engineer in Electrical
Engineering from (ISTIM) on June 1993, a
DEA on December 1995 from (ENSET) and a
Doctorate thesis on control of Permanent
Magnet Synchronous Motor and DSP
implementation of digital control on February
06 2008 from ENIT. He was a technologist in
ISET Gafsa (1999-2004) and an assistant
Professor in ESTI (2004-2008) in Tunis, then
in ISSTE Gafsa.

N. Hidouri, O. Hasnaoui, F. Bacha, R. Dhifaoui. (2004b).

Contrle direct du couple dun moteur synchrone
aimant permanent saillant sous pertes minimales. 3me
Confrence internationale JTEA04, Hammamet
Tunisie.
N. Hidouri, O. Hasnaoui, R. Dhifaoui. (2007). A Direct
Torque Control Scheme for a Salient Pole Permanent
Magnet Synchronous Motor (PMSM) Based on
Maximum Torque. (2007). Electromotion. 10-12September 2007, Bordrum, Turkey.

L. SBITA obtained the PhD on 1997 in Electrical

engineering from ESSTT of Tunis, Tunisia. He
works as a Professor at the electrical-automatic
department of the National Engineering School
of Gabs, Tunsia. He received the "Habilitation
de Diriger des Recherches" (HDR) from the
National Engineering School of Sfax, Tunsia in
Marsh 08 2008. He is manager of the research
group on electric machine drives in the research
Unit MACS-ENIG. His fields of interest
include Renewable energies, power electronics,
machine drives, automatic control and modeling.

R. Chenni, M. Makhlouf, T. Kerbache, A. Bouzid. (2007).

A detailed modeling method for photovoltaic cells.
(2007). Energy, vol 32,17241730.
Tian Pau Chang. (2009). Output energy of a photovoltaic
module mounted on a single-axis tracking system.
Applied Energy, vol 86, 20712078.
Toni Bjazic, Zeljko Ban, Igor Volaric. (2008). Control of a
Fuel Cell Stack loaded with DC/DC Boost Converter.
Industrial Electronics, ISIE 2008. IEEE International
Symposium, June 30 2008-July 2 2008, pp. 14891494.

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