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2004
A Novel Direct Torque Control Scheme for Induction Machines With Space Vector Modulation
JosB Rodriguez, Jorge Pontt, CBsar Silva, Samir Kouro and Hemin Mirandat
Departamento de Electr6nica.
Universidad T h i c a Federico Santa Man'a,
Valparaiso, CHILE
t heman.miranda@elo.utfsm.cl
Abstract-In this paper a new method for Direct Torque In [7],[8] and [9] a second degree equation with parameters
Control (DTC) based on load angle contml is developed. The use depending on machine operating point must be solved to
of simple equations to obtain the control algorithm makes it easy obtain the stator vector reference. In [IO] and [ I I ] an inverse
tu understand and implement. Fixed switching frequency and
low torque ripple are obtained using space vector modulation. machine model is used for stator flux (&) calculation. The
This control strategy overcomes the must important drawbacks use of P I controllers for torque and stator flux in a rotating
of classic DTC. reference frame is proposed in 1121, leading to a control
Results shows the feasibility of the proposed method, obtaining scheme that is similar to field oriented control.
good speed control bandwidth while overcoming classic DTC The technique proposed in this paper is similar to that used
drawbacks.
in [13],[14] for permanmt magnet synchronous motors and is
Index Terms-Electric Drives, AC Machines, Direct Torque not clearly explained in 1151, and[l6].
Contml, Space Vector Modulation. The main contribution of this work is to use a new and
very simple one step flux control algorithm for induction
1. INTRODUCTION machine control using DTC and SVM (DTC-SVM) and few
controllers, avoiding c.>ordinale rotations and complicated
In recent years much research has been developed in order predictive controllers.
to find simpler control schemes for induction motors that meet Results for the proposed strategy are presented for a 5.5
the most demanding requirements, such as low torque ripple, [kW] induction mutor and are compared with FOC and classic
low harmonic distortion or quick dynamic response. DTC in terms of torque transient response, torque ripple and
Today Field Oriented Control (FOC) [I] and Direct Torque switching frequency. Finally it is concluded that improved
Control (DTC) [2].[3] are considered the most important tech- results are obtained with a simple algorithm based on an easy
niques to achieve high dynamic performance in AC machines. to understand theoretical principle.
The use of current control loops in a rotating reference
frame to decouple torque and flux control is the main charac-
teristic of FOC. The use of these controilers adds an additional 11. THEOIIETICAL
BACKGROUND
time delay making torque dynamic response slower. Space Applying the usual space vector transformation to a three
vector modulation (SVM) has been frequently used in FOC phase voltage system, a single space vector is defined by
to generate the gate pulses for the inverter semiconductors.
Classic DTC makes use of hysteresis comparators with 3,
torque and stator flux magnitud errors as inputs to decide
2). = ; (U" + az)b f a2Uc) , (1)
which stator voltage vector is applied to motor terminals. The
complex plane is divided in six sectors, and a switching table is where a = -112 i j f i f 2 , and ua,UT, and uc are stator phase
designed to obtain the required vector based on the hysteresis voltages, it is possible to obtain a simple equations set that
comparators outputs. Due to fast time constants of stator describe the AC machine dynamic behavior in a stator fixed
dynamics it is very difficult to keep machine torque between coordinate system 1181. These equations are:
the hysteresis bands. This can he done either by increasing
the sampling frequency as in [4], thus increasing switching
frequency, commutation losses and computation requirements,
or using multilevel power converters [5].[6].
The use of hysteresis comparators in classic DTC imple-
0 = R,i, +-
d+v
dt
- j~,+,. (3)
mentations give rise to variable switching frequency, which = L,i, + L , i , (4)
depends on rotor speed, load, sample frequency, etc. This
variable switching frequency may excite resonant dynamics
$+ = L,i, +
LA, (5 )
in the load and hence constitute a serious drawback of DTC. where R, and R, are the stator and rotor resistances, L,,
The use space vector modulation in conjunction with DTC has L, and L , are the stator, rotor and mutual inductances and
heen proposed as a solution to overcome the above mentioned w, is the rotor speed. The basic relation between torque and
problems [7]-[ 171. machine fluxes is:
111. FIELD
ORIENTED A N D CLASSIC DIRECTTORQUE
CONTROL
~ ccvij-
A. Field Orienred Conrrol
Field Oriented Control is based on the decomposition of the
instantaneous stator current i, into two orthogonal components
in rotor flux oriented coordinates: one proportional to the flux
(Zaz) and the other proportional to the torque (&). Since both
+T current vectors are perpendicular to each other, a decoupled
dynamic system is obtained so that both variables can be
I_______....___________
controlled separately, achieving a similar operation principle
*a as in DC-drives.
I +t,* Icos(6) Fig. 2 illustrates a simplified control diagram of FOC.
Both current comDonents are controlled bv individual PI
A@.. x At U, (7)
In classic DTC the stator voltage selection is made by
hysteresis comparators as shown in Fig. 3, with torque and flux
magnitude errors as inputs and a predesigned gate-pulses look-
up table that selects the stator voltage vector corresponding to
the desired action.
I I This control strategy leads to changes from full negative
torque to full positive causing high torque ripple. A5 demon-
strated in [4], the capability to actuate on torque greatly
W depends on the emf w,+,,. This means that ripple frequency
Fig. 3. Classic DTC control blwk diagmm. varies with rotor speed obtaining variable switching frequency
and a wide spectrum for torque and stator current.
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2004 35th Annual IEEE Power Electronics Specialists Conference Aachen. Germany. 2004
Flux
At
- - -
A I
Torque
and Flux
Te
4,= -1 Tr
1 (-LA- ( 1 - r rj4 &) d t , (9)
I394
~
2004 35th A n n u l IEEE Power Electronics Specialists Conference Aachen, Germany, 2004
5 7""
3 ---
... ..........
0.5 1 1.5
- 50
r
-50
0 0.5 1 1.5
(a)
~~~
I
............ .~
5o ...... ...............
' 1 1.5 4o . . . . . . . . . . . . . .
t ......
I.... ..........
............ ........
........ . . . . . . . . .
.....................
0 0.5 1 1.5
.............
z
-
?'
time 161
L.. 1
..........
..
0.5
...................
1.5
...... .~ I/
4o ...... ...............
1
50-
a ..... ......
............. .... ~ ........
L o
c-
+ -50.. . . . . . . . . ..:.. . . . ..... 20 . . . . . . . . . . .: . . . . . . . . . . .
~
................. ........
L '
--0,5.
b
-' "' '' . . . . . . . . . . . . . . . . ,.
. . . . . . . . . . . . . . . . . . . :
...............
...........
~
0.195
(C)
02
......
lime [SI
..............
0.205
.........
0.21
i
I
Fig. 6. Comparison of dynamic response klween DTC-SVM.Field Oriented Fig. 7. Torque response comparison between DTC-SVM and classic DTC.
Control and Classic DTC. (a) Field Oriented Control. (b) Classic Direct (a) Field Onenled Control, (h) Classic Direct Torque Control, (c) Proposed
Torque Control. (e) proposed Method. Method.
method. Classic DTC shows high torque and flux ripple and fast as classic DTC. In Fig. 7(a) FOC torque step response
similar rotor speed dynamic response as DTC-SVM and FOC. is shown. It can be seen that the inner current loop dynamics
To compare the fast dynamic torque response between the have an important role in the torque response.
proposed method, FOC and classic DTC, the torque response It is important to remark that in classic DTC torque ripple
to a step change in speed demand from negative to positive as big as in Fig. 7(b) can not be reduced by simply reducing
rated speed is analyzed. The results are shown in Fig. 7. torque hysteresis band. The high torque change rate hinders the
It is clear that the DTC-SVM improves classic DTC torque detection of the hysteresis hand crossing unless high sample
reference tracking, reducing torque ripple, achieving zero frequency is used. The effect of a reduced hysteresis band
steady state error and obtaining a torque response almost as in the torque ripple can be observed in Fig. 8 top, where a
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2004 35th Annual IEEE Power Electronics Speciulisrs Conference Aachen, Gennany, 2004
..................................
Ht = 1t ;Ttr
............... ;
z- 20
+* 1 ..: ............ ;. ..'I..
I
..: .............
0 .............
VII. CONCLUSIONS
I396
2004 35th Annual IEEE Power Electronics Specialists Conference Aochen. Germany, 2004
APPENDIX 1141 L. Tang, L. Zhong. M. Rahmn. Y. Hu.“A Novel Direct Torque Conml
for Interior Permanent-Magnet Synchronous Machine Drive With Low
Motor parameters used to test and compare the proposed Ripple in Torque and Flux - A Speed-Senseroless Approach. IEEE
control strategy are given in table 1. Trans. on Industry Applications. 39(6):1748-1756, NovlDec 2003.
L. Tang, L. B o n g , F. Rahman. “Modeling and Experimental Approach
TABLE I of a Novel Direct Torque Control Scheme for Interior Permanent Magnet
Synchronous Machine Drive”. IECON 02, Industrial Applicotbnr
M o r o n PARAMETEUS Society. 1:235-240, 5-8 November 2002.
L. Tang. M.F. Rahman. “A New Direct Torque Control Smtegy for
Parameter 11 Value Flux and Torque Ripple Reduction for Induction Motors Drive by Using
Space Vector Modulation”. IEEE PESC 3Znd Intemotionrrl Confirenct.
pages 1440-1445. 2001.
[Hyl 0.337 C. Lascu, I. Boldea, F. Blaabjerg. “A Modified Direct Torque Control
for Induction Motor Sensorless Drive”. IEEE T r a m on Industry
L , [Hyl 0.322 Applicorims, 36(1): 122-130, JanuarylFrebruaty 2000.
1. Boldea, S.A. Nassar. “Electric Drives”. CRC Press LLC. 1999.
power [KWI
ACKNOWLEDGMENT
The authors gratefully acknowledge the financial support
provided, under grant no 1040183, by Fondo Nacional de
Desarrollo Cientifico y Tecnol6gico (FONDECYT) of the
Chilean Government.
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