HIGH PERFORMANCE DIRECT TORQUE CONTROL OF
INDUCTION MOTOR USING SPACE VECTOR MODULATION
Jagdish G. Chaudhari Sandeep K. Mude
Lecturer, Electrical Department, Lecturer, Electrical Department,
GHRCE, Nagpur (India). KDKCE, Nagpur (India).
email:
jagdish_chaudhari123@rediffmail.com sandeepmude123@rediffmail.com
Abstract
This Paper describes sinusoidal pulse width modulation of
the voltage impressed to the stator of an induction motor for
direct control of torque and stator flux. Instantaneous voltage
vectors applied by an inverter have redundancy characteristics
which provide some flexibility for selecting the inverter
switching modes. By Using this switching freedom, control is
achieved according to the following properties; high speed
torque control, regulation of the primary flux, minimization of
the inverter switching frequency. This utilizes a constant
hysteresis band for both developed torque and stator flux and
indirectly maintains the switched stator voltage waveforms
averaged over a switching period to sinusoidal as in SPWM
technique. It improves the dynamic performance of the
machine compared to the conventional speed control of
induction motor drives. A simulation programme has been
developed to verify the results. The inverter duty cycle can then
be calculated using the space vector PWM technique. The
proposed method is very promising for rapid torque control
which is quite different from FOC (Field Orientation Control).
Keywords: Space Vector, Torque Control, Estimators.
1. Introduction
High dynamic performance of induction motor drives is
indispensable in many applications of today’s automatically
controlled machines. Induction motor control has attracted
much attention recently in the power electronics field. Field-
oriented control has been developed, enabling an ac motor to
attain dynamic responses as rapid as for dc motor [2]. The
principle of field-oriented control is based on Fleming’s law,
which describes the interaction force between fluxes and
currents. Many papers have reported the problems associated
with compensating various parameters. The current-controlled
inverters typically used in the field-oriented drive system
develop output waveforms which do not compare favorably
with those of the voltage-controlled inverter. The current
controlled inverter often causes increased motor harmonic
losses and acoustic noise during steady-state operation [5].
This paper proposes new control schemes based on the
principle of direct torque control, which can be considered a
basic law of torque generation in the induction motor. It makes
1-4244-0038-4 2006
IEEE CCECE/CCGEI, Ottawa, May 2006
Prakash G. Gabhane
M.Tech.(IPS), Student,
GHRCE, Nagpur (India).
email: email:
pggabhane@rediffmail.com
possible both fast torque response and high-efficiency control
at the same time.
2. Need for Direct Torque & Flux Control
Inverter fed induction ,motors are increasingly being used in
general applications varying the input voltage to the motor with
frequency on open loop is one of the very simple and popular
methods of speed control. In this method V/F is held constant.
In steady state operation, the machine air gap flux is
approximately related to V/F. As the frequency approaches
zero near zero speed, the magnitude of the stator voltage also
tends to zero and this low voltage is absorbed by the stator
resistance. Therefore at low speed of operation the stator
resistance drop is compensated by injecting an auxiliary
voltage so that rated air gap flux and full load torque becomes
available up to zero speed. At steady state operation, if the load
torque is increased, the slip will increase within the stability
limit and a balance will be maintained between the developed
torque and the load torque. However, if the supply voltage to
the inverter (which is obtained by rectifying the input AC
supply) fluctuates, the air gap flux will vary. Also, increase in
the stator resistance with temperature results in the variation of
air gap flux. Hence, in constant V/F control scheme the air gap
flux may drift and as a result the torque sensitivity with slip
frequency (or stator current) will vary. If the correct V/F ratio
is not maintained the flux may be weak (or may saturate). If the
air gap flux decreases, slip frequency (ωs1) will increase for the
same torque demand. Also response of the machine detoriates,
hence a speed control scheme with independent control of
torque and flux loop is desirable. DTC is one such method of
speed control.
3. Machine Model
Induction motor is modeled by its voltage equations in stator
co-ordinates for both stator and rotor as follows:
dψ s
Vs = + Rs ⋅ is (1)
dt
dψ r
− jω ⋅ ψ r
(2)
0 = + Rr ⋅ ir
dt
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 where, Lo 2
where, σ = 1− ψr
L sL r
ªV d º is the stator voltage The torque expression can also be written in terms of these
Vs = « »
¬V q ¼ two flux signals as following:
ªψ sd º
ψs = « » is the stator flux linkage
3 P Lo
¬ψ sq ¼ Te = ψr × ψs
2 2 σLsLr
ª i sd º
is = « » is the stator current (8)
¬ i sq ¼ 3 P Lo
= ψr ψs sin δ
ªψ rd º 2 2 σLsLr
ψr = « » is the rotor flux linkage where, į is the space angle between these two flux vectors.
¬ψ rq ¼
ª i rd º 4. Direct Torque Control
ir = « » is the rotor current
¬ i rq ¼ Induction motor torque control has traditionally been
ωr is the rotor speed in electrical radian/sec. achieved using Field Oriented Control (FOC). This involves
Rs is the stator resistance the transformation of stator currents into asynchronously
Rr is the rotor resistance rotating d-q reference frame that is typically aligned to the
rotor flux. In this reference frame, the torque and flux
Equation (1) is for stator voltage and (2) for rotor voltage. producing components of the stator current are decoupled. A PI
As the rotor winding is short circuited, the rotor voltage is zero controller is then used to regulate the output voltage to achieve
in magnitude [3]. The induced emf is compensated by the the reputed stator current and therefore torque. This PI
resistive drop and the rotational voltage. Again, stator and rotor controller limits the transient response of the torque controller.
flux linkages are related to the stator and rotor currents as Direct Torque Control (DTC) uses an induction motor model
follows: to achieve a desired output torque. By using only current and
voltage measurements, it is possible to estimate the
ψ s = L sis + L oir (3) instantaneous stator flux and output torque [1]. An induction
motor model is then used to predict the voltage required to
ψ r = L o is + L rir (4)
drive the flux and torque to demanded values within a fixed
Ls is the stator self inductance time period. This calculated voltage is then synthesized using
Lr is the rotor self inductance space vector modulation (SVM).
Lo is the mutual inductance The stator flux vector, ψs , and the torque produced by the
motor, Tem , can be estimated using (9) and (10) respectively.
These two phase variables are obtained from three phase These only require knowledge of the previously applied
values using the following matrix: voltage vector, measured stator current, and stator resistance.

ª fa º
(
ψ s = V s − r s I s dt ) (9)

ª fd º 2
« fq » =
¬ ¼ 3
ª1 − 1 / 2 − 1 / 2 º « »
«0
¬ 3 / 2 − 3 / 2»¼ « »
fb (5) T em =
3 P
2 2
(
ψ s × Is ) (10)
«¬ fc »¼
Once the current stator flux magnitude and output torque are
Torque developed within the machine can also be expressed known, the change required in order to reach the demand
as a cross product of stator flux and current as following: values by the end of the current switching period can be
determined. An equivalent circuit of the induction motor in a
3 P stationary d-q reference frame is shown in Fig. 1. over a short
Te = ψ s × is (6)
2 2 time period, the change in torque is related to the change in
Considering stator flux vector and rotor flux vector to be current and from the equivalent circuit equation (11) can be
independent state variable, equation (3) and (4) can be obtained. The voltage E can also be determined by using the
modified as following: stator flux and current vectors.

Lo V − E
σ L sis = ψ s − ψr (7) Δ Is = Δt (11)
Lr L ′s

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 Fig. 1. Equivalent circuit of an induction motor in a d-q
reference frame.

By combining (10) and (11), an expression for the change in
torque can be obtained as shown in (12). Equation (9) can also
be rewritten as an expression for the change in the stator flux,
as shown in (13).
Fig. 3. Switching voltage space vectors.
Table 1: Optimal vector selection table (2 level)
Sectors

ΔTem =
3 P Δt
2 2 L ′s
(
ψs × V − E( )) (12)
Δλ ΔTem
↑
1
V2
2
V3
3
V4
4
V5
5
V6
6
V1
↑
( )
0 V0 V7 V0 V7 V0 V7
Δψs = V s − rs I s Δt = V ⋅ Δt (13) ↓ V6 V1 V2 V3 V4 V5
↑ V3 V4 V5 V6 V1 V2
These two equations can be solved to find the smallest ↓ 0 V7 V0 V7 V0 V7 V0
voltage vector, V , required to drive both the torque and flux ↓ V5 V6 V1 V2 V3 V4
to the demand values. The required stator voltage can be
calculated by adding on the voltage drop across the stator
resistance calculated using the current measured from the last 6. Discussion of Result
cycle.
As shown in Fig. 2, the voltage required to drive the error in Direct torque control for induction motor and a power
the torque and flux to zero is calculated directly. The calculated converter suitable for such application such as induction motor
voltage is then synthesized using Space Vector Modulation [4]. control are presented in this paper. Need for direct torque
If the inverter is not capable of generating the required voltage control and principle of DTC is explained in great details. For
then the voltage vector which will drive the torque and flux complete control of motor [6], software program is done in
towards the demand value is chosen and held for the complete Matlab 7.0.
cycle.

Fig. 2. DTC using space vector modulation block diagram.

Fig. 4. Plot of direct axis flux and quadrature axis flux.
5. Space Vector Concept
In a three phase inverter, it is well known that the three
phase inverter can produce eight output states. Switching state
[1 0 0] means, upper switch in phase ‘a’ is closed and upper
switch in phase ‘b’ and ‘c’ are open. Thus eight output states of
inverter represents eight space vectors, two vectors V0[0 0 0]
and V7[1 1 1] are null and remaining six are of equal
magnitude and arranged 600 apart in space diagram as shown
in fig(3). The table 1 shows the optimum voltage switching
vector look-up table. Fig. 5. Plot of flux magnitude with respect to time.

1092

Fig. 6. Plot of torque with respect to time.
Fig. 7. Plot of d-q axis current with respect to time.
Fig. 8. Plot of direct axis voltage with respect to time.
The result obtained and all these results i.e. Fig. (4). Plot
of direct axis flux with respect to quadrature axis flux; Fig. (5).
Plot of flux magnitude with respect to time; Fig. (6). Plot of
torque with respect to time; Fig. (7). Plot of d-q axis current
with respect to time and Fig. (8). Plot of direct axis voltage
with respect to time, shows noticeable reduction in torque
ripples and suitable only for low to medium power applications
due to its higher switching frequency. From Fig. (6) it is
observed that the torque in the DTC schemes is not as steady as
expected, the reason for this is the use of imperfect current
sensors. The current waveforms are too glitchy. From Fig. (4)
we find that the DTC scheme offers a much more circular path.
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Finally from the results, the control variable, the stator
flux and the torque are controlled directly with the help of two
hysterisis controllers. These control variables are estimated
from the stator quantities.
7. Conclusions
Direct torque control system for a three-phase induction
motor is described; the motor is operated continuously from
zero to full speed. It has been proved that the instantaneous
primary flux can be calculated by means of computer software
and therefore, the data acquisition is simplified significantly. It
is shown that by selecting a space non-zero voltage vector and
its time width, the amplitude of electromagnetic torque also
can be controlled and that by selecting a space zero voltage
vector and its time width, the amplitude of electromagnetic
torque also can be controlled. Therefore, flux and torque
control can be achieved separately.
Acknowledgements
The authors would like to express their appreciation to
Dr. S. G. Tarnekar, Professor and Head, Electrical Engineering
Department, Dr. B. N. Jajoo, Principal, G. H. Raisoni college
of Engineering, Nagpur University, Nagpur, Maharashtra
(India) and greatful to Dr. M. V. Aware, Assistant Professor in
Electrical Engineering Department, Visvesvaraya National
Institute of Technology, Nagpur (Deemed University).
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