Direct Torque and Flux Control of Induction Motor Drives
C . Attaianese - G. Tomasso A. Damiano - I. Marongiu
Department of Industrial Engineering Department of Electric and Electronic Engineering
University of Cassino, Italy University of Cagliari, Italy
via G. Di Biasio, 43 1-03043 Cassino (FR) Piazza d ' h i 1-09123 Cagliari
e-mail: attaianese@ing.unicas.it e-mail: marongiu@elettro 1.unica.it
Abstract: A general approach to direct torque and flux control of
induction motor fed by VSI is presented in the paper. The inverter
switching patterns are generated as a function of the reference
values both of the electromagnetic torque and of the controlled
flux. In particular, the proposed control algorithm is independent
on which kind of flux is controlled, rotor or stator one. The results
obtained by means of a real time simulation show that the
proposed control strategy allows to obtain a very fast and accurate
response of the drive.
1. Introduction
The advent of vectorial control techniques has made possible
to achieve with an induction motor as quick torque response as a
dc motor. In classical field oriented control strategy [l], [2], the
inverter is generally assumed able to force any desired value of
currents in the stator winding of the motor. In consequence, the
imposition of the quadrature component of the stator current is
perfectly equivalent to the torque in order to determine the best
fitting inverter switching pattern. Obviously, this implies the use
of a current control loop which is able to compensate the electri-
cal time constant of the stator circuit. But, from a general point
of view, the response of the torque control loop depends both
on the stator and rotor electrical time constants. Direct torque
and flux control of the induction motor allows to take into ac-
count both ones. From a general point of view, it consists in gen-
erating the inverter switching patterns as a function of the refer-
ence values both of the electromagnetic torque and of the con-
trolled flux. Torque control strategies of induction motor through
the use of stator field orientation have been widely developed
[3]-[6] in the eighties, but they were mainly devoted to the ap-
plications where the torque produced by the motor and not the
speed is the commanded quantity, such as traction drives. Of
course, stator flux field orientation allows to minimize the number
of external sensors used in the drive, but it exhibits some prob-
lems at low speed operation, because of the strong influence of
the stator resistance. In this paper a general approach to direct
torque control of induction motor fed by a VSI is described, which
is independent on which kind of flux is controlled: rotor or stator
one. In this way, an algorithm can be set up which allows the
generation of the inverter switching patterns as a function of the
reference values both of the electromagnetic torque and of the
controlled flux. A comparison between stator and rotor flux con-
trol is performed.
0 I997 IEEE
7803-3773-5/97/$10.00
642
A. Perfetto
Department of Electric Engineering
University of Naples "Federico 11", Italy
via Claudio, 21 1-80125 Napoli
e-mail: perfetto@nadis.dis.unina.it
2. Mathematical Background for Direct
Torque and Flux Control
As it is well known, by means of space vectors, an induction
motor can be mathematically described in terms of complex state
variables. Thus, denoting with x the state vector, the state space
representation of the mathematical model of an induction motor
can be expressed in the classical form by:
X = AX+BU (1)
where, if the usual simplificative assumptions are made, x, U
and B are 2 x 1 column matrices, while A is 2 x 2 matrix, over
the field of complex numbers. In the most general form, it can be
set:
x=[xl x2IT u=[v]
A = [all] B =[bj] with i, j = 1, 2,
and where v the space vector of the supply voltage represents.
As complex state variables, the space vector of the stator current
is , and the one of the rotor current referred to the stator i, , are
usually assumed. But, in order to set up an algorithm which al-
lows to perform the direct control of motor torque and flux, it is
useful to choose the state variables according to this goal. In par-
ticular, if as former state variable i, seems to be always the right
choice, because it generally corresponds to directly measurable
input-output quantities, as second one it is useful to assume the
magnetizing current corresponding to the flux to be controlled.
The detailed analytical expressions of the matrix elements ay
and bi are given in Table 1, where with i,, and i,, the space
vectors of the magnetizing currents have been denoted, corre-
sponding to the stator and rotor flux respectively, and where:
kr =- L m L, = I, -I-L,
4+ Lm
with:
I, rotor leakage inductance referred to the stator
 TABLE I
Elements of the matrices A and B according to the choice of the second state variable

a1 1 a12 a2 1 a22 bl b2

-as - ar a r -.ip@r 1 1
-
lms
1- k,kr + jP@r 1 - k,kr -a, 0
Lt (1 - kskr ) L,

'mr

1, stator leakage inductance tude, by fully taking into account the dynamics both of the stator
r,. rotor resistance referred to the stator and rotor circuits. Moreover, by means of the same relations, an
r,. stator resistance algorithm which takes into account the digital behaviour of the
L, air gap inductance power devices of the feeding inverter can be carried out. In fact,
U,. motor speed. with reference to an induction motor fed by VSI with classical
topology, the set of feasible inverter output voltage space vectors
The electromagnetic torque produced by an induction motor, is a discrete one, and, unfortunately, none of its elements is
having m!r stator phases, is given by [ 11: generally exactly equal to the voltage space vector which gives
rise to the imposed values both of the electromagnetictorque and
of the controlled flux. Therefore, an adequate modulation strat-
T = -3 p
2
- } 3 ~ L m~m{i,ymS)
~ , ,Im{ is imr = -
2kS
egy within each sampling interval is required, in order to achieve
the best tracking of the reference values both of the torque and of
the flux. A procedure which allows the analytical determination
where p and m, the pole pairs and the number of stator phases of the switching pattern, starting from the reference values of the
respectively represent. Denoting with Ts the length of the time torque and of the rotor flux, has been described in [8]. Unfortu-
interval occurring between two consecutive switching patterns nately it implies the solution of a nonlinear equation, which
ofthe feeding inverter, with the subscript n the values of all quan- represents a very hard task in terms of computation time. But a
tii:ies at the instant nT, , and assuming constant the velocity of great simplification can be achieved by turning over the way to
the motor in this interval, the solution of (1) at the instant (n+l)T, approaching the problem.
is explicitly given by: In fact, by means of (2), (3) and (4) the values of the torque and
flux at the instant (n+I ) T, can be predicted for all possible voltage
x,+l = exp(AT,)x, + A-'[exp(AT,)- 1]Bu, space vector vk , which can be supplied by the inverter. It yields:
(3)

where I is the identity matrix and where the evaluation of with k ~ { l...,
, 6}
Vk =
exp(AT,) can be performed by means of Sylvester's theorem,
having A two distinct complex eigenvalues A, and 4.It yields: vg = 0

exp(AT,) =
r,
exp(A 1 T,)(A - A 2 I ) - exp(R2 )(A - 11) with V dc bus voltage.
dc
Assuming both torque and flux as linear function of the time
(4)
a1 -a2

By means of (3) and (4) a prediction of the system state at the

instant (n-tl)T,is feasible as a function of the state at the instant
nT', and ofthe applied control input, that is of the space vector of
the supply voltage.

3. Direct Torque and Flux Control Algorithm

By means of (2), (3) and (4), it is possible, from a theoretical

point of view, to determine step by step the space vector of the
supply voltage which allows to achieve the imposed values at the
Fig. 1 . Simplified schema of an induction motor fed by a VSI with direct
instant (niLl)Tsboth ofthe torque and the controlled flux magni- torque and flux control.

643
 /

+
read T* #*

computation of
I I1
+ i = 1, ...,6 j = i+l

b--- i = 0,...,6

determination of i, j such as to get:

Ti,n+I<T* Tj,n+l'T*

w for all possible Vk

-
vi for aiTs
vJ. for
qTs

.
T* -q,n+i
a. = aJ -
' l-ai
-
I ?,*+I - q,n+1
I

determination of V h
1 v
no
evaluation of stator current
stator current and of flux deviation
vectors for which
evaluation
the stator current doesn't exceed
the maximum allowable value 1
stator current
exceed the maximum

no 1

no Istore modulation pattern

and flux deviation

select vi select vi select the switching

corresponding to corresponding to pattern which
gives rise to the
m i 4 Th,n+l 1 minimum
ai= 1

switching pattern output

Fig. 2. Flowchart of the proposed controller.

within each sampling interval [7], [SI ,the switching pattern can
be step by step correlated with the torque and flux value, at each
samplinginstant. Thus, by means of (2),(3) and (4), amodulation
strategy can be set up having the goal to give rise to the minimum
deviations with respect to the reference values both of the torque
and of the flux. The corresponding flowchart is shown in fig.2.
4. Results
In order to analyse the performances which can be achieved
by means ofthe proposed controller, a simulationprogram of the
control schema of fig. 1has been carried out. The electromagnetic
and the stator current are depicted in fig.3, for the inductionmotor
of Table 11,having 11kWpower rating. Both rotor and stator flux
control have been examined. A quadratic load torquelspeed
characteristic and a 10 kHz sampling frequency have been
assumed. It is worth to single out that in fig.3 only the values
corresponding to the sampling instants have been plotted. The
inspection ofthis figure show that the motor torque and flux track
very well the reference ones, at low frequency too. But, if also
the torque and current values within each sampling interval are
considered, the curves of fig.4 are obtained, where a little but
negligible torque ripple appears. Fig.5 shows the stator and the
rotor flux, which are practically not affected by ripple. Stator and
rotor flux control give almost the same results. In particular, if on
the one hand stator flux control exhibits a little bit smaller
harmonic content of the stator current, on the other hand the
correspondingtorque response is a little bit slower, as shown in
fig.6. Similar results are obtained if a lower sampling frequency
is considered, as it is confirmed by the inspection of figs.7,S and
9, where the results corresponding to 1 kHz sampling frequency
are shown. Again, it is interesting to single out that ifthe proposed
controller allows a vehy good control of the motor torque at each

644
 1.5 I-
I

c:
v
3.
n
1.2 5
w
3
0

1 I
o " ' ~ ' ~ " ~ ~ ~ " ' " ' ' " ' ' ' ~ 0
0.3 0.32 0.34 0.36 0.38 0.4 0.3 0.32 0.34 0.36 0.38 0.4
TIME (s) TIME (s)

1.5 1 1.5 I I

,-
3
0.75 -i 0.75
c-
*_ v
n
e- E-
:z
L-l
o 2
W
0
cz e!
cz e!
:3 3
cJ -0.75 -0.75

-1.5 -1.5 3
0 0.34 0.35 0.36 0.37
TIME (s)

Fig.3. Electromeagnetic torque and stator current obtained with the proposed controller for the induction motor of Tab.11 and for a 10 kHz sampling
frequency. In (a) the controlled flux is the rotor one while in (b) the controlled flux is the stator one. Only the values at the sampling instants have been plotted.

L I

o ~ ' " " ' ' " ' " ' ' " ' " ' ' ' ( ~ ' ' ' 4 ' ' * ' L a ' L ' * ' c '

0.3 0.32 0.34 0.36 0.38 0.4 0.3 0.32 0.34 0.36 0.38 0.4
TIME (s) TIME (s)

1.5 , I 1.5

-1.5 -1.5
0.:34 0.35 0.36 0.37 0.34 0.35 0.36 0.37
TIME (s) TIME (s)

Fig.4. As in fig.3, but also the values within the sampling interval are plotted.

645
 -1m
iIm ROTOR FLUX @.U,) ROTOR FLUX (p U,)

STAT0RFLUXb.u.)
i Im
STATORFLUX(p.u.)

f
Fig.5 , Rotor and stator flux obtained with the proposed controller for the induction motor of Tab.11 and for a 10 kHz sampling frequency. In (a) the controlled
flux is the rotor one while in (b) the controlled flux is the stator one. Also the values within the sampling intervals have been plotted.

sampling instant, a torque ripple within the sampling interval is 5. References

unavoidable, and obviously it increases as the sampling fre-
quency decreases. At 1 kHz, the stator current obtained by
controlling the stator flux seems to have practically a sine
waveform, but ifalso the values within each sampling interval are
taken into account, a considerable ripple appears.
5. Conclusions
[ 11 W. Leonhard,Control ofElectrica1Drives, Springer-Verlag,
1990.
[2] B. K. Bose, "Variable Frequency Drives - Technology and
Application", Proceedings of the Conference ISIE '93,
Budapest (Hungary), June 1993.
1.5 1

A general approach to direct torque and flux control of

induction motor fed by VSI has been presented in the paper.
Starting from it, an algorithm has been set up, which allows the
generation of the inverter switching patterns as a function of the
reference values both of the electromagnetic torque and of the
controlled flux. In particular, the proposed control algorithm is
independent on which kind of flux is controlled, rotor or stator
one. By means of it, a very fast and accurate response of the drive 0
can be achieved. A comparisonbetween the results obtainedwith 0.32 0.3202 0.3204 0.3206 0.3208 0.321
stator and rotor flux control shows that they give almost the same TIME (s)
results. In particular, if on the one hand stator flux control exhibits Fig.6. Comparison between torque step up transients: the dotted line has
a little bit smaller harmonic content of the stator current, on the been obtained by imposing the magnitude of the rotor flux, the continuous
other hand the correspondingtorque response is a little bit slower. one to stator flux control corresponds.

646
 1.5 I 1.5 I

o ~ " " " " ' " " " " " " " ' ~ o ~ ~ " " " " ' " ' ' " ' ' ' " ' ~
0.3 0.32 0.34 0.36 0.38 0.4 0.3 0.32 0.34 0.36 0.38 0.4
TIME (s) TIME (s)

1.5 I I

-1.5r " " J " " " " I -1.51' " ' I " " I ' " ' 1
0.34 0.35 0.36 0.37 0.34 0.35 0.36 0.37
TIME (s) TIME (s)

Fig.7. Electromeagnetic torque and stator current obtained with the proposed controller for the induction motor of Tab.11 and for a 1 kHz sampling frequency.
In (a) the controlled flux is the rotor one while in (b) the controlled flux is the stator one. Only the values at the sampling instants have been plotted.

1.5 6 1.5 L I

1.2
-
?
1.2

0.9 ,a 0.9
w
3
0.6 0.6
2
0.3 0.3

O N 0
0.3 0.32 0.34 0.36 0.38 0.4 0.3 0.32 0.34 0.36 0.38 0.4
TIME (s) TIME (s)

1.5 < 1.5 1 I

-
a

c
0.75
i
L
E

-1.51 ' ' ' ' ' ' ' ' I . , ' ' ' 1 -1.51' " " " " " " ' 1
0.34 0.35 0.36 0.37 0.34 0.35 0.36 0.37
TIME (s) (s)

Fig.8. As in fig.3 but also the values within the sampling interval are plotted.

647
 (4
I" ROTOR FLUX @.U,)
(b)

1" ROTORFLUX(p.u.)

1 Im STATORFLUX(p.u.) (b) 1 Im STATORFLUX(p.u.)

Fig.9. Rotor and stator flux obtained with the proposed controller for the induction motor of Tab.11 and for a 1 kHz sampling frequency. In (a) the controlled
flux is the rotor one while in (h) the controlled flux is the stator one. Also the values within the sampling intervals have been plotted.

[ 3 ] M. Depembrock, "Direct Self-Control (DSC) of lnverter- [5] I. Takahashi and Y. Ohmori, "High-Performance Direct
Fed Induction Machine", IEEE Trans, on Power Electron- Torque Control of an Induction Motor", IEEE Trans. on
ics, vol. 3, no. 4, Oct. 1988, pp. 420-429. Industry Applications, vol. 25, no. 2, Mar./Apr. 1989, pp.
[4] 1. Takahashi and T. Noguchi, "A New Quick-Response and 257-264.
High Efficiency Control Strategy of an Induction Motor", [6] T.G. Habetler and D.M. Divan, "Control Strategies for
IEEE Trans. on Industry Applications, vol. 22, no. 5, Sept./ Direct Torque Control Using Discrete Pulse Modulation",
Oct. 1986, pp. 820-827. IEEE Trans. on Industry Applications, vol. 27, no. 5 , Sept.1
Oct. 1991, pp. 893-901.
Tab. I1 [7] C. Attaianese and A. Perfetto, "Microprocessor Voltage
Tested motor data Control of lnverter-Fed Asynchronous Motors", Proceed-
ings of the Con$ PESC'93, Seattle (USA), June 1993.
fkW1 11 rs [QI 1.078 [8] C. Attaianese, A. Del Pizzo, 1. Marongiu and A. Perfetto,
"Microprocessor Direct Torque Control of Inverter-Fed
v, [VI 3 80 7: P I 0.898 Asynchronous Motors", Proceedings of the Con$ AMC'94,
Berkeley (USA), March 1994.
J [kgm21 0.1 Is [HI 0.093
[9] C. Attaianese, A. Damiano, I. Marongiu and A. Perfetto, "A
P 2 1: [HI 0.093 Direct Torque Control Algorithm Imposing the Mechanical
Response of Speed Controlled Induction Motor Drives",
0.025 L m [HI 0.236 Proceedings of the IEEE Int. Symp. on Industrial Electron-
ics ISIE'96, Warsaw (Poland), June 1996.

648