1

Sensorless SVM-DTC Method for Induction Motor Drives based on Amplitude and Angle Decoupled Control of Stator Flux
T. Vinay Kumar and S. Srinivasa Rao.
Torque Control method, current controller and coordinate transformations are not required. The operation of conventional DTC is very simple but it produce high ripple in torque due to non-linear hysteresis controllers. Sampling frequency of conventional DTC is not constant and also only one voltage space vector is applied for the entire sampling period. Hence the motor torque may exceed the upper/lower torque limit even if the error is small [2]. In order to overcome this problem SVM-DTC method was proposed [3]. From the above discussion, the conventional DTC produces high ripple in torque by changing switching frequency. By using space vector modulation technique in DTC, the sampling frequency is maintained constant and reduced torque ripple with low switching losses. The most accurate speed observer seems to be the adaptive ones, either with the non-linear or linear. An enhanced voltage-current model speed estimator based on a model reference adaptive controller (MRAC) structure is presented [4,5]. This paper gives information about sensorless drive operation and proposes an algorithm for control of decouple between the amplitude and angle of reference stator flux. The conventional and proposed sensorless DTC simulation results are presented and compared. Simulation results shows that torque, flux linkage and stator current ripple are decreased with proposed sensorless SVM DTC. II. CONTROL METHOD A. Machine modeling: By referring to a synchronous reference frame, denoted by the superscript e , the mathematical equations of induction motor can be rewriting as follows [4]. Stator voltage equation:

Abstract This paper proposes an algorithm for direct flux and torque controlled sensorless three phase induction motor drive systems. This method is based on control of slip speed and decouple between amplitude and angle of reference stator flux for determining required stator voltage vector. Within the given sampling time, flux as well as torque errors are controlled by stator voltage vector which is evaluated from reference stator flux. The direct torque control is achieved by reference stator flux angle, which generates from instantaneous slip speed angular frequency and stator flux angular frequency. The amplitude of the reference stator flux is kept constant at rated value. This technique gives better performance in sensorless three phase induction motor than conventional technique. Simulation results for 3 hp induction motor drive for both proposed and conventional techniques are presented and compared. From the results it is found that the stator current, flux linkage and torque ripples are decreased with proposed technique. Keywords- Direct torque control (DTC), Induction motor drive, Space vector modulation (SVM), Direct stator flux control, Model reference adaptive control, Flux observer.

I. INTRODUCTION

he industrial applications of the adjustable speed drives (ASD) are increased rapidly. The ASD applications demand high performance speed and torque control. Demands to the control techniques are speed-torque characteristics, speed range, dynamic response, study state parameters and sensor/sensorless operation. Speed control of induction motor drives using direct torque control (DTC) method have become increasingly popular in the industrial drives since 1980 due to the simplicity in control structure and high dynamic performance of instantaneous electromagnetic torque. Field Orientation Control and Direct Torque Control methods are most popular for electric machine vectors control methods [1]. The main advantages of Field Orientation Control method is high dynamic performance, switching frequency, low torque ripples and maximum fundamental component of stator current, but these method suffer severe disadvantages. i.e. requirement of two co-ordinate transformations and current controllers, high machine parameter sensitivity. Comparing with field orientated control, DTC has very simple control scheme and also less computational requirements. In case of Direct
Vinay Kumar. T (Research Scholar), is with the Department of Electrical Engineering, National Institute of Technology, Warangal, AP-506004, INDIA. ( e-mail: tvinay.nitw@gmail.com). S. Srinivasa Rao (Associate .Prof), is with the Department of Electrical Engineering National Institute of Technology, Warangal, AP506004,INDIA. (e-mail: srinivasarao_nitw@yahoo.co.in).

u se = i se Rs + d se dt + j e se
Rotor voltage equation:

(1) (2) (3) (4) (5) (6)

0 = ire Rs + d re / dt + j ( e r ) re
Stator flux equation:

se = Ls i + Lm i re
e s

Rotor flux equation:

re = Lr i re + Lm i se
Mechanical equation:

Te Tl = J d r dt
e e e e Te = (3 p / 2)( sd i sq sq i sd )

In symmetrical three phase induction motor, the instantaneous electromagnetic torque is proportional to the

978-1-4244-8542-0/10/$26.00 2010 IEEE

2 cross-sectional product of the stator flux linkage space vector and the rotor flux linkage space vector.

Te = (3 p / 2) s sin
' r

(7) is the

3 L2 e (t ) = p m 2 s2 1 e t 2 R r Ls

] t

slip

(12)

where,

s is the stator flux linkage space vector, r'

From (12), the instantaneous electromagnetic torque control is performed by changing the value of slip angle slip . The value of

rotor flux linkage space vector referred to stator and is the angle between the stator and rotor flux linkage space vector. B. Proposed Sensorless SVM-Direct torque control:
a) Direct Torque Control Method:

slip is controlled by using direct stator flux control

method. Using Fig.1 torque PI controller values are designed same as in [7].

The structure of proposed sensorless SVM-DTC for induction motor as shown in Fig. 2. The hysteresis comparators and voltage switching table of conventional DTC is eliminated. Prediction of the reference of stator flux linkage, calculation of the reference of voltage space vector and SVPWM technique are added. In this technique, the torque control is achieved by maintaining the constant amplitude of reference stator flux. From (7) torque control is directly performed by controlling torque angle change which is the angle between stator and rotor flux vectors and keep stator and rotor flux vectors at constant amplitude. From (7) torque equation is replaced as (8) using the same principle in [6], the instantaneous electromagnetic torque can be derived as

+
e

PI

sl

K t(1+ s )

Fig .1 Block diagram of the torque control loop.

b)

Direct Stator Flux Control Method:

From (12), the instantaneous electromagnetic torque control is performed by changing the value of slip angle slip which is directly controlled by using direct stator flux control method. In stator flux control method, the important task is decouple the amplitude and angle of stator flux vector. From Fig.2, the reference torque is generated from speed PI regulated,

3 L2 (8) e (t ) = p m 2 s2 1 e t ( s r ) 2 R r Ls where = Lr Rr is the time constant. From above (8), the quantity ( s r ) nothing but slip

Te is the torque error between

to s

the reference torque and estimated real torque. In order to compensate this error, the angle of stator flux linkage must be increased from

+ s

as

shown

in

slip between

stator flux angular frequency s and rotor can be (9) the instantaneous

Fig.3.,where s is the stator flux angle and s is the required change in stator flux angle. From the phase diagram shown in Fig.3 s

angular frequency r . The slip angular frequency written as

= sl , therefore
(13) nothing but change in slip angle

slip = s r
By substituting (9) into (8), electromagnetic torque is given by
2 m

= s + sl From (13), sl is

3 L e (t ) = p s2 1 e t ( slip ) 2 2 R r Ls

( sl = sl dt ) ,which is generated from torque PI

controller. Therefore the required reference stator flux vector in polar form is given by

(10)

From (10), it is clear that the relationship between the instantaneous electromagnetic torque and slip angular frequency. The slip angular frequency can be rewritten as

s = s s
Where

(14)

is keep constant at rated value and the angle of

slip =
where

d slip dt

slip t

(11)

reference stator flux is calculated from (13). Required slip angle is written by

slip

is the angle between stator flux vector axis and

sl = slip t

(15)

rotor axis, and t is the sampling time. By substituting (11) into (10), the modified instantaneous electromagnetic torque is given by

P
sl

sd

sd

+
sq

r
+

PI
r

PI

sd

sq

sq

Calcula sq tion
Is Rs

Voltage

Stator

sd

S V M
VDC

sa

sb

sc

VSI

Estimation(MRAC)

Stator flux, Torque and Rotor Speed

ia

ib

IM
Fig .2 Basic block diagram for proposed Sensor less SVPWM DTC

q
s

v sd = sd t + i sd Rs

(22) (23)

v sq = sq t + i sq Rs

s = vs t

are calculated from (18) to (19). s is the flux error between reference flux and estimated actual flux. In order to compensate the flux error, voltage components are calculated from the model of voltage space vector. Using this reference voltage components, time signal are calculated as explained in [8]. Time signal generates the PWM pulses for control the voltage source inverter (VSI). Within this sample the inverter is switched and made to remain at different switching states for different durations of time such that the average space vector generated within the sampling period is equal to the sampled value of the reference value. c) Flux and speed estimation: The flux and speed estimators reduce the cost of operation and also improved the performance. The estimator estimates or calculates the rotor flux, the stator flux, the electromagnetic torque and rotor speed. Estimation is based on the induction motor modeling from (1) to (6). The flux estimator is designed based on two models, they are open loop current model and adaptive voltage model [9]. The open loop current model is suitable for low speed operations and voltage model is suitable for wide speed range operations. The rotor flux current model estimator (24) is derived from (2) and (4) in a rotor flux reference frame ( e = r ) using the calculated stator currents.

Where t is the sampling time. Reference flux components

r
s sl slip slip
r
s

d
Fig .3 Control of stator flux linkage.

Estimated actual flux magnitude is

sd = (v sd i sd Rs vcomp )dt sq = (v sq i sq R s vcomp )dt

The reference flux vector is given by
sd = s cos( s )

(16) (17) (18) (19) (20) (21)

sq = s sin( s )

The flux error is given by

sd = sd sd

sq =

sq

sq

The reference space voltage vector is given by

978-1-4244-8542-0/10/$26.00 2010 IEEE

is is
e
jr
e isdq

current mod el
e rdq

is
e
jr
rdq

Rs
s
s

compensator

vs
voltage mod el

rd = (Lm (1+ sT))isd +(r /(1+ sT))Trrq r r

s

(30) (31)

s(r )

vcom +

rq = (Lm (1+ sT))isq (r /( + sT))Trrd 1 r r

r
rq tan1 rd

The reference full order model is based on (3) and (4) for a stator reference frame. Using rotor flux is calculated in a stator reference frame
rd = (Lr / Lm ) sd ((Ls Lr L2 ) / Lr )isd m rq = ( Lr / Lm ) sq ((Ls Lr L2 ) / Lr )isq m

r (s )

(32) (33)

is
Fig. 4 The flux estimator.

rdq =(Lm (1+sT))isdq j(( r r )/( +sT)) rrdq 1 r T r

where

(24)

The rotor speed is calculated and correct by a PI adaptation mechanism.

Tr = Lr Rr is the rotor time constant. rdq =(Lm (1+sT))isdq j(( r r )/( +sT)) rrdq 1 r T r

r = K p ((1 + sTi ) / sTi ) * ew

(34)

(25) (26)

where e w = ( rd rq rq rd ) is the error between two models. III. SIMULATION RESULTS Conventional DTC and proposed SVM DTC MATLAB models were developed for 3HP induction motor at 0.0004sec sampling time, VSI DC link voltage is 540V, simulation step time is 10 sec .The performance of three phase induction motor with conventional DTC and proposed DTC are illustrated in Fig. 6-17 .Fig.6and 7 shows a comparison of stator flux space vector obtained using two control methods (conventional and proposed) i.e. proposed method

rd = ( Lm /(1 + sTr ))i sd

The stator flux sdq calculated in stator coordinator using the output of the open loop current model.
sdq = (Lm / Lr ) rdq + ((Ls Lr L2 ) / Lr )isdq m

(27)

where rdq is the estimated rotor flux from (3) and (4) in stator reference frame. By using the stator voltage and current measuring, the stator flux s is derived from voltage model.

s = 1 / s (v s i s Rs vcomp )

(28)

In order to compensate the errors associated with pure integrator and R s estimation at low speed and to provide wide speed range operation for the entire observer, the voltage model is adapted through a PI controller.
vcomp = K p (1 + sTi ) / sTi * ( s s )

(29)

The speed estimator has the structure of a model reference adaptive controller (MRAC). The full order flux estimator is proposed [10] to achieve a wide range speed. The reference full order estimator is the rotor flux estimator based on stator reference frame and adaptive model is a current model which is derived from (2) based on stator reference frame.

vs
is

referenc fullorder model

r
PI controller

Fig. 6 d-q stator flux locus with Conventional DTC scheme.

adaptive current model

r
Fig. 5 The model reference adaptive rotor speed estimator.

The adaptive current model is based on (2), (3) and (4) for a stator reference frame. Using (3) and (4) rotor flux is calculated in a stator reference frame.

Fig. 7 d-q stator flux locus with proposed DTC scheme.

Fig. 8 d-q stator current with Conventional DTC scheme.

Fig.13 speed response of proposed DTC scheme.

Fig.9 d-q stator current with proposed DTC scheme.

Fig.14 output torque ripple with Conventional DTC scheme.

Fig.15 output torque ripple with proposed DTC scheme. Fig.10 stator flux magnitude with Conventional DTC scheme.

Fig.16 speed ripple with Conventional DTC scheme. Fig.11 stator flux magnitude with proposed DTC scheme.

Fig.17 speed ripple with proposed DTC scheme. Fig.12 speed response of Conventional DTC scheme.

IV. CONCLUSION In this paper, an algorithm is proposed for direct torque and flux control of senseless three phase induction motor drive. Proposed decoupled control between the amplitude and angle of stator flux for generating the pulses for VSI. The estimation errors of stator flux and rotor speed are within the limits ( 1 ) when compared to the actual values. Using MATLAB/SIMULINK the simulation of proposed and conventional techniques were carried out for DTC of 3hp three phase inductions motor. In conventional DTC, within the sampling time only one instantaneous voltage vector is applied to inverter to reduce the flux as well as torques errors. In proposed technique, within the sampling time more than one voltage vector is applied to inverter for reducing the flux and torque errors. From simulation results, proposed technique gave the stator current, flux linkage and torque ripples less when compared with the conventional technique. REFERENCES
[1]. Takashi and T. Noguchi, A new quick-response and high-efficiency control of an induction motor, IEEE Trans. Industry Applications, vol. IA-22, no.5, pp. 820-827, 1986. [2]. M. Depenbrock, Direct self control (DSC) of inverter-fed induction machines, IEEE Trans. Power Electronics, vol. 3, no. 4, pp. 420429, 1988. [3]. U. Baader, M. Depenbrock, and G. Gierse, Direct self control (DSC) of inverter-fed-induction machineA basis for speed control without speed measurement, IEEE Trans. Ind. Applicat., vol. 28, pp. 581 588, May/June 1992. [4]. B. K. Bose, Modern Power Electronics and AC Drives. Englewood Cliffs, NJ: Prentice-Hall, 2001. [5]. Lixin Tang,Limin Zhong,M.F.Rahman and Yuwen Hu, ANovel Direct Torque Controlled Interior Permanent magnet Synchonous Machine Drive With Low Ripple In Flux and Torque and Fixed Switching Frequency, IEEE Trans.Power Electronic,, vol.19,no.2, pp. 346354, March 2004. [6]. L. Tang, L. Zhong, and F. Rahman, Modeling and experimental approach of a novel direct torque control scheme for interior permanent magnet synchronous machine drive, in Proc. IEEE IECON02, vol. 1, Seville, Spain, pp. 235240, Nov. 2002. [7]. Hamid A Toliyat, Kumsuwana, Suttichai Modified direct torque control method for induction motor drives based on amplitude and angle control of stator flux Electric Power Systems Research, Vol. 78, Issue 10, , Pp. 1712-1718 , Oct 2008 [8]. Arbind h,B.G. Fernandes and K. Chattejee Simplified SVMPWMDTC of three phase induction motor using the concept of imaginary switching times The 30th Annual Conference of the IEEE Industrial Electronics Society, Busan, Korea, , November 2 - 6,2004,. [9]. Cristian Lascu, Ion boldea and Frede Blaabjerg A Modified direct torque control for induction motor sensor less drive, IEEE Trans.Ind.Applications.vol. 36,no.1.Jan/Feb 2000. [10]. C. Schauder, Adaptive speed identification for vector control of induction motors without rotational transducers, IEEE Trans. Ind. Applicat., vol. 28, pp. 10541061, Sept./Oct. 1992.

Fig.18 Actual and estimated rotor speed in proposed DTC.

Fig.19 speed error between actual speed and estimated speed.

Fig.20 Actual and estimated stator flux in proposed DTC.

Fig.21 Error between actual flux and estimated flux.

From Fig.11 and 15, it is observed that the flux ripple and torque ripple is reduced in the proposed method compared with the conventional DTC. The flux ripple in conventional DTC is 0.0210 where as in the proposed DTC, it is 0.0105. The torque ripple in conventional DTC is 4.4 where as it is 0.6 in the proposed DTC. This shows that the proposed DTC is having better performance when compared with conventional DTC.