Investigation of Performance Parameters of

PMSM Drives using DTC-SVPWM Technique

Jaswant Singh, Bindeshwar Singh, S. P. Singh and Mohd Naim

d, q Rotor direct and quadrature axis indexes

Abstract-- The direct torque control space vector pulse width
modulation (DTC-SVPWM) theory has achieved great success in
ψf Rotor flux (PM).

the speed control of PMSM drives. A DTC-SVPWM technique of Ld , Lq d-axis and q-axis synchronous inductances.
PMSM has been presented in this paper. Based on in-depth
analysis of PMSM mathematical model in a-b-c frame and id , iq d-axis and q-axis currents.
α − β frame are established and the operation principle of DTC- Vd , Vq d-axis and q-axis voltages.
SVPWM system, the relationships between the torque and
fundamental components. A novel SVPWM technique which has
ψ q ,ψ d d-axis and q-axis flux linkages.

a feature of low harmonic is proposed. The proposed technique is J Moment of inertia.

adopted to design the DTC-SVPWM of a three-phase PMSM TJ Moment torque.
drives. A large number of simulation results show that the DTC-
SVPWM technique of PMSM drives having good dynamic
performance. Aiming at the DTC-SVPWM technique in PMSM I. INTRODUCTION

P
drives, in this paper explained the theoretical basis of the DTC MSM are widely used in high-performance drives such as
for PMSM firstly, and then explained the difference between the
industrial robots and machine tools for their advantages
applications of DTC-SVPWM to PMSM drives. Finally the
high power density, high-torque, and free maintenance and so
MATLAB/Simulink models were developed to examine the DTC-
SVPWM for PMSM drives for enhancement of performance on. In recent years, the magnetic and thermal capabilities of
parameters of such motors. This article is very useful for the permanent magnet (PM) have been considerably increased
researchers and scientific engineers for extending the research by employing the high-coercive PM materials [1]. In last few
work in this area. years PMSM, consequently is acquired in more and more far-
ranging application, because of its properties such as small
Index Terms-- Direct Torque Control (DTC), Permanent Magnet
Synchronous Motor (PMSM), Space Vector Pulse with volume, light weight, high efficiency, small inertia, rotor
Modulation (SVPWM), Modeling Equations, Current without heat problem, etc. [2].
Estimation, Stator Flux Linkage. The proposed techniques such as DTC-SVPWM are a
technique to reduce the ripples of the electromagnetic torque
NOMENCLATURE
Te Torque
and flux linkage in PMSM drives. SVPWM techniques have
several advantages that are offering better DC bus utilization,
Ld d-axis inductances
lower torque ripples, lower total harmonic distortion in the AC
Lq q-axis inductances
motor current, lower switching loss, and easier to implement
ψs Stator flux in the digital systems PMSM drives.
ψf Permanent magnet flux DTC is a new control technique after vector control. It
P Number of pole pairs abandons decoupling thought of vector control, and uses the
TB Friction torque. stator flux linkage directly to control the flux linkage and the
B Friction coefficient. torque of motor. Thus the dynamic response of the system is
Δδ s The change in torque angle due to move of δs very fast [3]. The DTC control strategy is applied for PMSM
in order to improve the torque characteristics of the motor,
Δδ f The change in torque angle due to move of δ f which currently has caused the extensive attention of people.
The traditional DTC usually adopts bang-bang control strategy
to implement. But this control strategy can't meet the system
Jaswant Singh and Mohd Naim are M. Tech. Students in Department of
Electrical Engineering, Kamla Nehru Institute of Technology, Sultanpur-228 requirements both of torque and flux linkage at the same time,
118, India (e-mail:sinjaswant@gmail.com, m.naim0648@gmail.com). which leads to large fluctuations of flux linkage and torque
Bindeshwar Singh and S.P. Singh are Assistant Professor in Department
of Electrical Engineering, Kamla Nehru Institute of Technology, Sultanpur, generated by system and leads to the problem of pulse current
India(e-mail:bindeshwar.singh2025@gmail.com, singhsurya12@gmail.com).

978-1-4673-0455-9/12/$31.00 ©2012 IEEE

and switching noise caused by higher switching frequency v d = R d id +
dψ d
− ω rψ
(1)
q
dt
changes. The SVPWM control strategy has been widely used
dψ q (2)
in the field of motor speed control, due to its potential v q = R q iq + + ω rψ d
dt
advantages, such as small current waveform distortion, high
where Rd and Rq are the quadrature and direct-axis winding
utilization of DC voltage, easy-to-digital implementation,
resistances which are equal and be referred to as Rs is the
constant switching frequency of inverter, effectively to reduce
pulsation of the motor torque and flux linkage, etc. The result stator resistance. The permanent magnet excitation can be
shows that the system has the advantage of fast response, and modeled as a constant current source, i f the rotor flux along d
good dynamic performance etc. [4] [5]. The simulation results axis, so the d axis rotor current is i f the q axis current in the
shows the proposed DTC-SVPWM system having less flux
rotor is zero, because there is no flux along this axis in the
linkage and torque ripples while it maintains as good torque
rotor, by assumption. Then the flux linkages are written as in
response as the DTC-SVPWM. At the same time the
eq. (3).
complexity of the power circuit does not increase.
ψ d = Ld id + Lm i f (3)
II. MATHEMATICAL MODELING OF PMSM ψ q = Lq iq (4)
PMSM is an important category of the electric machines, in Where Lm is the mutual inductance between the stator
which the rotor magnetization is created by PM attached to the
rotor. The d-q-model offers significant convenience for winding and rotor magnets. Substituting these flux linkages
control system design by transforming stationary symmetrical into the stator voltage equations gives the stator eq. (5) has
AC variables to DC ones in a rotating reference frame. Based been presented in ref.[6], [7].
on the d-q reference frame theory, the mathematical model of vq = Rs iq + ω r ( Ld id +ψ f ) + ρ Lq iq (5)
the PMSM can be expressed as the following equations: The
rotor flux can be assumed to be concentrated along the d axis vd = Rs id + ω r Lq iq + ρ ( Ld id +ψ f ) Rd + Ld id (6)
while there is zero flux along the q axis, an assumption ρ denotes mutual inductance.
similarly made in the derivation of indirect vector controlled
induction motor drives. The stator equations of the induction Arranging the above equations in matrix form:
machine in the rotor reference frames using flux linkages are ⎡ vq ⎤ ⎡ R q + ρ Lq ω r L d ⎤ ⎡ iq ⎤ ⎡ ω r L m i f ⎤
taken to derive the model of the PMSM. ⎢ ⎥=⎢ ⎥⎢ ⎥+⎢ ⎥
(7)
⎣ v d ⎦ ⎣⎢ − ω r L q R d + ρ L d ⎦⎥ ⎣ i d ⎦ ⎢⎣ ρ ψ f ⎦⎥
A. PMSM equations and its motion model
The developed torque motor is being given by (8)
The stator flux linkage vector ψ and rotor flux linkage ψ of 3
s f Te = P (ψ d i d − ψ q i d ) (8)
PMSM can be drawn in the rotor flux (d-q), stator flux (x-y), 2
and stationary (D-Q) frames as shown in figure 1 & 2. The mechanical Torque Te written in eq. (9)
q − axis as ' d − axis
dωm (9)
Te = T L + B ω m + J
dt
cs bs θ
N
Solving for the rotor mechanical speed from the above eq. (10)
a − axis is
S
cs ' (Te + TL + B ω ) dt (10)
bs '
ωm = ∫ J
as In the above equation ω is the rotor electrical speed where as
r
Fig. 1. Two pole three phase surface mounted PMSM.
ωm is the rotor mechanical speed.

y Q
B. Parks Transformation concept
q
iq It is done by converting the three phase voltages and
Vs currents to dqo variables by using Parks Transformation.
ψs x
ix δ ψf
Converting the phase voltages variables Vabc to Vqdo variables
d
id θr
D
in rotor reference frame the following eqs. (11) & (12), are
addressed in [8]:
Fig. 2. The stator and rotor flux linkages in different frames.
⎡ ⎤
⎡Vq ⎤ ⎢ cos θ r cos(θ r − 120) cos(θ r + 120) ⎥ ⎡Va ⎤
In transient operation δ varies and the stator and rotor flux ⎢ ⎥ 2⎢ ⎥ ⎢ ⎥
(11)
V =
⎢ d⎥ 3⎢ sin θ r sin(θ r − 120) sin(θ r + 120) ⎥ ⎢Vb ⎥
rotate at different speeds. ⎢V ⎥ ⎢ ⎥ ⎢⎣Vc ⎥⎦
⎣ 0⎦ 1 1 1
The well-known voltage equations in the rotor reference ⎢ ⎥
⎣ 2 2 2 ⎦
frame are as follows:
 ⎡V a ⎤ ⎡ cos θ r sin θ r ⎤ ⎡V q ⎤ dT 3P dδ (18)
⎢ ⎥ 2⎢ ⎥⎢ ⎥ (12) = ψ s [2ψ f L q sin δ − 2ψ s ( L q − L d ) cos 2δ ]
⎢V b ⎥ = 3 ⎢ cos(θ r − 120) sin(θ r − 120) ⎥ ⎢V d dt 4 L q L d dt
⎥
⎢⎣V c ⎥⎦ ⎣⎢ cos(θ r + 120) sin(θ r + 120) ⎦⎥ ⎢⎣V 0 ⎥
⎦

C. Equivalent Circuit of PMSM III. SPEED AND TORQUE CONTROL OF PMSM DRIVES USING
From the d-q modeling of the motor using the stator DTC-SVPWM TECHNIQUE
voltage equations the equivalent circuit of the motor can be The block scheme of the investigated speed and torque
derived as shown in Fig. 3. Assuming rotor d axis flux from control with DTC-SVPWM for a voltage source SVPWM
the PM is represented by a constant current source as inverter fed PMSM is presented in Fig. 4.
ψ f = Lm i f is addressed
DC link capacitor
described in the following equation ia
  

ib
in [9]. ic
ib
220V ia
AC Source
ψ sr*
vsα vs β
Δωr Te* ΔTe dδ vsd
ωr* θr
vsq isα isβ
Te ωr
ωr ψ sd isd
ψ sq isq

Fig. 3. Equivalent Circuit of PMSM for d-q-axis. θr

Fig. 4. Structure block diagram of PMSM proposed with DTC-SVPWM
scheme.
D. The Torque equation in x-y reference frame
A. Mathematical Modeling
With the transformation below, eq. (6) can be transformed
to stator flux reference frame [10]. DTC technique has been proposed for calculations and
controls stator flux linkage and torque of PMSM directly to
achieve high dynamic performance, in the stator coordinate
3P
T= ⎡ψ d ( i x sin δ + i y cos δ ) − ψ q (cos δ + i y sin δ ) ⎦⎤ system. A block diagram of DTC with PMSM is shown in Fig.
2 ⎣
4. isd and isq' the components of i, in the d-q axis, can be
3 P ⎡ i xψ dψ q i yψ d i xψ dψ q i yψ 2 d ⎤
2

= ⎢ + − + ⎥ (13) obtained from the phase current sampling values ia and ih '
2 ⎣⎢ ψ s ψs ψs ψ s ⎥⎦
through Clark Co-ordinate Transformation and Park Co-
E. The flux linkage equations in the x-y reference frame ordinate transformation. Thenψ sd , ψ sq and Te could be
Eq. (3) can be rewritten into matrix form as follows: estimated by isd and isq this system uses three-way closed-loop
⎡ψ d ⎤ ⎡ L d 0⎤ ⎡ i d ⎤ ⎡ψ f ⎤ (14) control of speed, flux linkage and torque. Adopt speed
⎢ψ ⎥ = ⎢ 0 L q ⎥⎦ ⎢i ⎥ + ⎢ ⎥
⎣ q⎦ ⎣ ⎣ q ⎦ ⎣0 ⎦ deviation Δωr as input value, outer loop Proportional
Substituting eq. (3) into eq. (7) gives
*
Integral (PI) controller outputs Te , which is the given value of
⎡cos δ − sin δ ⎤ ⎡ψ x ⎤ ⎡ Ld 0 ⎤ ⎡cos δ − sin δ ⎤ ⎡ψ f ⎤ (15)
⎢sin δ ⎢ ⎥ =⎢ Lq ⎥⎦ ⎢⎣sin δ
+⎢ ⎥
⎣ cos δ ⎥⎦ ⎣ψ y ⎦ ⎣0 cos δ ⎥⎦ ⎣0 ⎦ torque loop. Then take torque deviation ΔTe as input value,

F. PMSM with pole saliency torque loop PI controller outputs d δ the correction value of
For a PMSM’s with pole saliency, Ld ≠ Lq the torque δ , which is the angle between ψ PM and ψ S , vsd and vsq

equation in terms of stator flux linkage and angle δ can be the components of u, in the d-q axis can be estimated by d δ ,
obtained by solving i with ψ y = 0 ψ sd and ψ sq . SVPWM control signals can be generated
x

ix =
2ψ f sin δ − [( Ld + Lq ) + ( Ld − Lq ) cos 2δ ]i y (16) through inverse Park Transformation with vsd and vsq , and
( Ld + Lq ) sin 2δ
then drive PMSM [10] [11]. In the Fig. 2, flux linkage
Then the torque equation is as follows:
estimator can be expressed as:
T=
3P
ψ s [2ψ f Lq sin δ − ψ s (Lq − Ld )sin 2δ ] (17)
4Lq Ld ⎧
⎪ψ sd = Lsd i + ψ PM
Eq. (17) consists of two terms; the first is the excitation ⎪ (19)
⎨ψ sq = Lsq isq
torque, which is produced by the permanent magnet flux. The ⎪
⎪⎩ ψ sr = ψ sd + ψ sq
2 2

Under condition of constant amplitude ofψ s by differentiating

Torque estimator can be expressed as:
eq. (17) with respect to time, the rate of increasing of torque at
3 (20)
t = 0 can be obtained in eq. (18) is presented in ref. [11]. Te = p (ψ sd i sq − ψ sq i sd )
2
Voltage estimator can be expressed as: plane in Fig. 6 [13]. The peak fundamental phase voltage that
⎧ dψ sq may be produced by the inverter for a given dc link voltage
⎪⎪ v sq = R s i sq + + ω rψ s d
dt (21) occurs under six-step operation, and is given by:
⎨
⎪ v = R i + dψ sd − ω ψ 2V
⎪⎩ sd s sd
dt
r sq
V1, six − step = dc (24)
π
where, dt is flux linkage sampling time, ψ sr * is the given
On the other hand, the maximum achievable peak fundamental
value of torque stator flux linkage. In addition, phase voltage for conventional sinusoidal modulation as
⎪⎧ dψ sd = ψ sr cos (δ + d δ ) − ψ sr cos δ shown in Fig. 3 is:
*

⎨ (22)
⎪⎩ dψ sq = ψ sr sin (δ + d δ ) − ψ sr sin δ
*
V
V1,sin − pwm = dc (25)
2
Then, dψ sd and dψ sq can be expressed as:
From eqs. (31) and (32), only 78.5% of the inverter capacity is
⎧ ψ sd ψ sq used
⎪ dψ =ψ co s d δ − s in d δ ) − ψ
*
sd sr ( sd
⎪ ψ sr ψ sr (23)
⎨
⎪ dψ ψ sq ψ
=ψ *
( co s d δ + s d sin d δ ) − ψ
⎪ sq sr
ψ sr ψ sr
sq
⎩

B. Proposed PMSM with DTC-SVPWM scheme

The block diagram of the proposed PMSM DTC-SVPWM
drive is shown in Fig. 4. The speed controller is a classical PI
regulator, which produces the reference torque [11]. The
calculated torque is compared with the reference torque, the α
-axis voltage component and β-axis voltage component of the
stator voltage are obtained and are input into SVPWM. A DC
bus voltage and two phases current are detected to calculate
the stator flux linkage and torque. The speed is also estimated
in the toque, flux, angle and speed estimator.
C. SVPWM Technique
The power circuit of a three-phase VSI is shown in Fig. 5,
where Va , Vb , and Vc are the output voltages applied to the
star-connected motor windings, and where
continuous inverter input voltage. S1 Through S6 are the six
power transistors those shape the output, which are controlled
by switching signals. There are eight different combinations of
switching states as follows: (000), (100), (110), (010), (011),
(001), (101), and (111). The first and last states do not cause a
current to flow to the motor, and hence, the line-to-line
voltages are zero. The other six states can produce voltages to
be applied to the motor terminals.
Fig. 6. Voltage space vectors for a three-phase VSI.
Vdc
V1.svpwm = (26)
3
From eqs. (24) and (26), about 90.6% of the inverter capacity
is used. In which the desired voltage is found to lie in Sector 1.
Although, the inverter cannot produce the desired voltage
directly. It is possible to decompose it into two vectors, Vx
and Vy , that lie on the two active inverter vectors on either
Vdc is the side of the reference vector [12], [13], [14]. It is possible to
produce the switching signals, PWM1, PWM2, and PWM3 to
be applied to the inverter. The total zero time is most often
divided equally between the two zero states. It is possible to
satisfy the above restrictions by the use of symmetrical pulses
as shown in Fig. 7 [15], [14]. The cycle begins in state 0,
(000), with each inverter pole being successively toggled until
state 7, (111), is obtained. The pattern is them reversed in
order to complete the modulation cycle.

Fig. 7. Inverter switching signals for SVM in sector 1

Fig. 5. Three-phase VSI bridge circuit IV. SIMULATION RESULTS IN MATLAB/SIMULINK

If the inverter operation starts by state (100) to be state 1, it A block diagram of the proposed PMSM drive based on
is possible to compute the voltage space vectors for all SVPWM is shown in Fig. 8. The parameters of PMSM and
DTC-SVPWM scheme parameters are shown in Table I & II
inverter states which are shown in the complex space vector
of appendix. The results under the PI speed controller and the
proposed scheme are shown in Fig. 4, respectively.

Fig. 10. DC bus voltage ( VDC ).

A. Three phase stator current

Fig. 8. Simulink model of PMSM with DTC-SVPWM scheme. The PMSM motor drive generated three phase stator
current in shown in Fig. 14.
From dynamic response performances of the PMSM drive
based on the proposed scheme has been improved to some
extent compared with the system based on the conventional PI
speed controller. Fig. 10 shows the waveforms of dc-link
voltage and current source fed svpwm PMSM drive. The dc
link voltage is roughly equal to 1.38 times the line voltage
(220 V). The steady state value of three phase stator current is
6.9 A. The result for the three phase stator current estimation
are shown in Fig.11, inverter switching frequency is 20 kHz.
The given speed is 880 rad/min, and the comparative results of Fig. 11. Three phase stator current_Iabc of the PMSM.
the Rotor actual speed of the PMSM wave form (rpm) are B. Speed estimation
shown in Fig. 12 and reference speed of the PMSM are shown
in Fig. 13. From fig. 14 & 15 Electromagnetic Torque of the The speed estimator is based on the relation of stator flux
PMSM actual torque and reference torque. It can be seen that angle and rotor flux angle. The given speed is 880 rad/min,
the torque ripple of PMSM is reduced greatly in the latter and the comparative results of the Rotor actual speed and
strategy. The steady state flux linkages of permanent magnet reference speed of the PMSM wave form (rpm) are shown in
synchronous motor with the DTC are shown in Fig. 16. In the Fig. 12 & 13 the real and estimated speed in the proposed
simulation system, the sampling period of the conventional DTC-SVPWM scheme when the reference speed has 880 rad/s
DTC is chosen as 50 μs.
at startup at t=0.1s.
Simulation parameters: Stator resistance, Rs=4.765 Ω , Torque
Te 1.7 Nm, d-q axis inductance Ld & Lq=0.014H, Permanent
magnet flux ψf 0.1848, Moment of inertia = 0.0001051,
Friction factor= 4.047e-005, rated Speed ωm 3750 rpm,
K pT
=100, K iT =0.089, K pψ
=4.5, K iψ =0.90.
Fig. 12. Rotor actual speed of the PMSM wave form (rpm).

Fig. 13. Reference speed of the PMSM.

Fig. 9. Vrms before input voltage Vrms = 220V.
In this paper, MATLAB/Simulink Software is used to
model and simulate for DTC System of PMSM by analyzing
DTC working principle for PMSM. A lot of simulation results
show that DTC system has fast response, good dynamic
performance characteristics.
C. Torque and Flux estimation
Figs. 14-16 shows torque and flux response of the proposed
DTC-SVPWM for PMSM when the load torque has step
change from negative three to positive three Nm (-3 Nm to
+3Nm) at 0.03s.

Fig. 14. Electromagnetic Torque (Te_Nm) of the PMSM.


Fig. 14 shows the comparison of torque shows comparison
of dynamic torque response on step mutation of given torque
from increased load. The flux estimation of the permanent
magnet synchronous motor (PMSM).
Fig. 15. The step response reference torque is (Tref -3Nm to +3Nm).
Fig. 16. Flux trajectory of the PMSM with DTC.
V. CONCLUSIONS
In this paper, DTC with PMSM drives are proposed and
simulated in MATLAB/Simulink environment. This paper
presents a new DTC adjustable speed and flux control system
based on the VSI topology has been presented. The
performance of three-phase PMSM is analyzed by using this
technique. Simulation results are analyzed by the output
waveforms in term of PMSM outputs (performance
parameters). A simulation model of the system was
established in MATLAB/Simulink environment. A
comparative simulation study on DTC based on SVPWM was
carried out.
A DTC-SVPWM technique is used for generating a desired
value of pulses by using an appropriate value of switching
frequencies. Performance of 3-phase PMSM is investigated
for the different load conditions and their comparison is also
presented in this paper. The results of simulation have shown
that the PMSM drive with the proposed control scheme has
the merits of simple structure, robustness, quick tracking
performance. SVPWM allows the operation of inverter in over
modulation region. This proposed strategy considers the
inverter as a single unit and greatly reduces the complexity
and cost when compared with traditional systems. It has
reduced harmonics, low switching stress power and low
common mode noise the results are show that to verify these
new features. The simulation results are finally concluded that
DTC-SVPWM technique having good dynamic performance
characteristics of PMSM drives.
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