Performance Analysis of Direct Torque Control of
PMSM Drive using SVPWM - Inverter
Narayan Prasad Gupta
Electrical and Electronics Engg. Deptt.
Oriental Institute of Science and Technology,
Bhopal, India- 462021
narayan. irig@gmail.com
Abstract-Permanent magnet synchronous motors (PMSM)
have been universally used as variable speed drives due to its
characteristics such as small volume, light weight, high efficiency,
small inertia and hence high torque / inertia ratio, maintenance
free and ease of control, high steady state torque density create
possibility of replacing induction machines with PMSMs in
industrial drive applications. PMSM are now widely accepted as
high performance drives such as industrial robots and machine
tools. A novel direct torque control (DTC) scheme incorporating
space vector pulse width modulated (SVPWM) inverter, for
speed control of PMSM drive has been presented in this paper,
which has advantage of fast dynamic response with low ripples in
torque and speed response, elimination of current controllers and
least dependency on motor parameters. According to
differences in estimated value of torque and stator flux linkage
with actual reference value; the stator voltage vectors are directly
selected, in DTC to control the speed of motor. Mathematical
model of PMSM and proposed DTC scheme is presented here. A
simulation model is developed in MATLAB / SIMULINK to
judge the various performance parameters.
Keywords- Direct torque control; permanent magnet
synchronous motor; space vector pulse width inverter; flux and
torque estimation;
I. INTRODUCTION
Permanent Magnet Synchronous Motor (PMSM) has
gained popularity especially in the automation industry,
because of its compact size, high efficiency, and faster
response, simple control technique makes it comparable with
induction motor drive [1,4], As reliability and cost of modern
PMSM drives are of importance, advanced control techniques
have been developed. The PMSM is very similar to the
standard wound rotor synchronous machine except that the
PMSM has no damper windings and excitation is provided by a
permanent magnet instead of a dc field winding. The
elimination of field coil, dc supply and slip rings reduces the
motor loss and complexity [4]. In general there are two high­
performance control strategies for PMSM e.g. field-oriented
control (FOC) and direct torque control (DTC). These control
strategies are different in their operating principles but their
aim is same; control effectively the motor torque and flux in
order to force the motor to accurately track the speed and
torque references regardless of the machine and load parameter
variation or any disturbances [8]. In field oriented control rotor
flux space vector is calculated and controlled by using the
978-1-4673-0934-9/12/$31.00 ©2012 IEEE
Preeti Gupta
Electrical and Electronics Engg. Deptt.,
Thakral College of Technology,
Bhopal, India- 462021
preetigupta@oriental.ac.in
angular velocity which is derived from the speed feedback and
the stator current vector which can be done by tachogenerator
or any speed / torque sensor.
With the improvement in power electronics
technology, direct torque control (DTC) technique is proving
best optimized method for speed control of PMSM drive. faster
torque control, high torque at low speeds, and high speed
sensitivity are some of the attribute of DTC. The main idea in
DTC is to use the motor stator flux linkage and torque as basic
control variables. In conventional method of speed control the
rotor speed and angular position are sensed and feed back to
the control the speed of motor. In PMSM increase of
electromagnetic torque is directly proportional to the increase
of the angle between the stator and rotor flux linkages,
consequently fast torque response can be achievable by
adjusting the rotating speed of the stator flux linkage. This is
achieved by using direct torque control (DTC) technique. The
proposed system of DTC includes a flux and torque estimator
which involves three phase voltage measurement at input
terminal of motor. In DTC the stator voltage vectors are
selected according to the difference between the reference
value and actual value of torque and stator flux linkages in
order to reduce the torque and flux errors within the specified
hysteresis band [4,15].
Space Vector Pulse Width Modulation (SVPWM)
control technique has been used in this paper, due to its
potential advantages, such as small current waveform distortion
(low THD), high utilization of DC voltage, easy-to-digital
implementation, low switching and noise losses, constant
switching frequency of inverter, effectively to reduce pulsation
of the motor torque and flux linkage. The simulation result
shows that the system has the advantage of fast response, good
dynamic performance, and low speed and torque ripples [3,6].
II. MATHEMATICAL MODELLING OF PMSM
Permanent Magnet Synchronous Motor (PMSM) has a
sinusoidal back emf which requires sinusoidal stator currents to
produce constant torque. The PMSM is different from wound
rotor synchronous machine as it has no damper and dc
excitation winding. Different mathematical models viz. abc­
model, two axis dq-model have been proposed for different
applications, the two axis dq-model is simple and is widely
used. The dynamic model of PMSM is derived from two phase Where TL is load torque, J is moment of inertia, B is (viscous
synchronous (stator) reference frame. For dynamic model of friction) damping coefficient. For simplifying modeling of
PMSM, the assumptions made are - spatial distribution of PMSM; three phase system can be transformed to an
magnetic flux in air gap should be sinusoidal, and magnetic orthogonal (dq) reference frame with direct axis (d) and
circuit should be linear (hysteresis and eddy current losses are quadrature axis (q), for rotor position 9.
negligible) [1, 4, 13]. 2rr 2rr
cos e cos(e --) cos(e + 3)

j3
[VVV ]
q
d =
2
"3 sine sinCe --)
3
2rr

3
sinCe -3)
2rr
[VVba]
Vc (7)
o 1 1 1

2 2 2
The simulink model of PMSM based on above equation is
shown in Fig 2.
id

iq

Fig. 1. Stator and rotor flux linkage in coordinate system

Te f----.(:
iab<:
The stator flux reference frame in D axis is in phase with r--�2
Te

stator flux linkage space vector 'Ps. Q axis (of SRF) leads 90° we

to D axis in CCW direction as depicted in Fig 1.

(1)

Fig. 2. Simulink model of PMSM

theta
Where,
9s= rotational angle of stator flux vector III. DIRECT TORQUE CONTROL FOR PMSM
9r=rotational electric angle of rotor Direct torque control and vector control are two popular
9s =9r+o methods for speed control of ac drives. In DTC method the
Stator flux linkage is given by control of electromagnetic torque and flux linkage is done
directly and independently by using space vectors. In a PMSM,
(2) if we neglect voltage drop due to stator resistance, variation of
stator flux is directly proportional to applied stator voltage.
Where Ls is stator self inductance and 'Paf is the rotor Thus control of torque in PMSM can be achieved quickly by
permanent magnet flux linkage. The stator voltage equation in varying the stator flux position (change in applied voltage to
rotor reference frame (dq reference frame) are given as motor. DTC calculate and control stator flux linkages and
. d\Pd torque of PMSM directly to achieve excellent transient
Vd Rsld + dt - wr\Pq (3)
performance [4].
=

(4) A. Torque andflux linkage estimator

Simulink block diagram of of PMSM with direct torque

Where 'I' q= Lqiq and 'I'd = Ldid+'I'af, Vd and Vq are d-q axis control is shown in Fig.13. The d-q axis component of current
stator voltages, id and iq are d-q axis stator currents, Ld and Lq can be derived from sampling of the three phase voltages at
are d-q axis inductances. Rs is stator winding resistance per SVPWM output, using abc to dq transform. Then after
phase, 'I'd, 'l'q are stator flux linkage in d-q axis & (Or is rotor electromagnetic torque Te will be estimated by "(5)" and d, q
speed in (rad/sec) electrical. axis stator flux 'Pd, 'Pq are given by
The developed electromagnetic torque is given by
(8)
3
Te 2" P[\Pdiq - \Pqid] (5)
=
(9)
Where P = No. of pole pair = p/2, and p = Total No. of poles
Based on theory of dynamics the motion equation of PMSM is
given by (10)

(11)
(6)
B. Optimal voltage Estimator TABLE I. SWITCHING VECTORS AND LINE VOLTAGES

This proposed DTC scheme uses three path closed loop Voltage Switching Vectors Line to Iine voltage
Vectors
control of speed, torque and flux linkage. PI controller is used
a b c Vab Vbc Vca
to reduce steady state errors in all the three closed loop paths.
The optimal voltage estimator has advantage of flux weakening Vo 0 0 0 0 0 0
control to reduce the ripples in torque and flux waves. In closed VI I 0 0 1 0 -I
loop system sensed speed is compared with reference speed,
and error L1ffir is fed to PI controller, its output Te which is V, \ \ 0 0 \ -\
again compared with estimated Te in another closed loop [4]. V3 0 \ 0 -\ \ 0
The torque error L1Te is processed in a PI controller give output
V4 0 1 I -I 0 1
as () which is angle between 'I'af and 'I's. The d-axis and q-axis
voltage component of stator voltage in stator reference frame V5 0 0 \ 0 -\ \
are calculated in optimal voltage estimator, by "(3)" and "(4)". \ \ \
V6 0 -\ 0
The stator voltage component Ua, Up is expressed in tenns of
Ud, Uq as- V7 1 1 I 0 0 0

- sin 8 ] [Ud] (12)

q axis

cos 8 Uq
After dq8/a.p transformation, the a.-axis, p-axis voltage
component of stator voltage (Ua. Up) will be input of SVPWM
to generate three phase sinusoidal voltages fed to PMSM.
Vl
V4 (100)
C. Space Vector PWM-Inverter (011) t------'=-iF---r----t---.

Space Vector PWM Inverter refers to a sequential

switching of six switches (lGBT transistors) of a three-phase
three leg bridge inverter which generate less harmonic
distortion in the output voltages and currents, which provides
more efficient use of supply voltage as compared to sinusoidal
modulation technique. The circuit model of a three-phase
voltage source PWM inverter is shown in Fig. 3. SI to S6 are
the six power switches, when any upper switch is on (a, b or c
is 1), the corresponding lower switches is turned off, (a', b' or c'
is 0). Therefore, the on and off states of the upper switches S1,
S3 and S5 can be used to detennine the output voltage [3, 6].
+ fundamental vectors, calculation model of switching time, and
Vdc
Vl V6
(001) (101)
Fig. 4. Basic switching voltage vectors and sectors
Fig. 4 shows the switching voltage vectors and sectors where
Tl and Tm refers to the operation times of two adjacent non­
zero voltage space vectors in the same zone [7]. Both Vo (000)
and V7 (111) are called the zero voltage space vector, and the
other six vectors are called the effective vector with a
magnitude of 2Vdc/3.
Based on the principle of SVPWM, the simulink model of
SVPWM is shown in Fig. 5, which primarily include the sector
judgment model, operation, time calculation model for
generation model of SVPWM waveforms [3,6,7].
)-----r---fl Uah
IJaIa
Nsedorf-----.-----,
}--"f4---+1 Ubela

Fig. 3. Three phase voltage source PWM Inverter with PMSM

The relationship between the switching variable vector [a, b, cr

and the line-to-line voltage vector [Vab Vbc Vcar is given by

[VVab]be Vde.!![1-1 (13)

H--+\ wc

Vea 1 1
=

0
There are eight possible combinations of on and off patterns for
XYl

the three upper power switches, as shown in table I [9]. Fig. 5. Simulink model of SVPWM inverter
 1) Sector Judgement Model TABLE IV. RELATION BETWEEN N, TCM, TA, TB, AND Tc

Using the expression of voltage vector in the a-� coordinate N 1 2 3 4 5 6

for control implementation, the following procedure is used for
determining the sector. If Teml Tb Ta Ta Tc Tc Tb
Tem2 Ta Tc Tb Tb Ta Tc
V� > 0, A = 1; (14) Tcm3 Tc Tb Tc Ta Tb Ta

3Va-V� > 0, B = 1; (15) By comparing the computed Tcml , Tcm2 and Tcm3 with the
carrier signal having 20 KHz, a symmetrical space vector
--J3Va+V� < 0, C = l. (16) PWM pulses for three phase bridge inverter willn be generated.

Then, the sector containing the voltage vector can be decided IV. SIMULATION RESULT AND ANALYSIS
according to N A+2B+4C, listed in Table II.
=
The simulink model of proposed DTC for PMSM drive
based on SVPWM is shown in Fig 13. The Results are taken
TABLE IT. THE SECTOR CONTAINING THE VOLTAGE VECTOR VERSUS N
for specific value of PMSM parameters given in Table V
SECTOR
I II III IV V VI
TABLE V. SPECIFICATION OF PMSM

N 3 I 5 4 6
SNo. PMSM Parameters Values

I Stator Resistance Rs l.4n

2) Calculation a/ Operation Time a/Fundamental Vectors
2 d-axis Inductance Ld 0.0066 H

Table III lists the operation times of fundamental vectors 3 q-axis Inductance Lq 0.0066 H

against sector N, where Tl and Tm refer to the operation times 4 Permanent Magnet Flux 'Par 0.1546
of two adjacent non-zero voltage space vectors in the same
5 Rated Speed Wr 1050 rpm
zone. X, Y, Z can be calculated by
6 No of Poles p 6
Z = T(---J3Va+V�)/(--J2Vdc) (17) 7 Moment of Inertia J 0.00176

T(--J3Va+V�)/(--J2Vdc) 8 Damping Coefficient B 0.0003881

Y = (18)

X = 2T [VW(--J2Vdc)] (19) The starting characteristics of PMSM drive with a speed

reference of (Or 600 rpm, and load torque TL 3 N-m with a
= =

The sum of Tl and Tm must be smaller than or equal to T
(PWM modulation period). The over saturation state must be
judged; if Tl +Tm > T, take Tl Tl [T/(Tl +Tm)] and Tm
= =
Tm[T/(Tl +Tm)].
step change to 8 N-m at 0.1 sec. Fig 6 and Fig 7 shows the
Speed and torque response of PMSM along with d-q axis stator
current for speed reference of 600 rpm and 900 rpm
respectively.

TABLE Ill. OPERATION TIMES OF FUNDAMENTAL VECTOR

N 1 2 3 4 5 6

T, Z Y -z -x x -y

Tm y -x X z -y -z

3) Generation 0/ SVPWM Voltage Wave/arms

The relation between N and switch operation times IS

shown in Table IV, where

Ta = (T-Tl -Tm)/4 (20)

Tb = Ta+Tl /2 (21)

Tc = Tb+Tm/2 (22)

Where Tcml , Tcm2 and Tcm3 are the operation times of the Fig. 6. Speed, Torque response and id -iq stator current waveform for DTC
three phases respectively, and is calculated from Ta, Tb, Tc. (wr=600rpm)
 Flux Tfaje<:tOfY

Ijf�·ir�!;�i'i�!i\�
0.2

0.15

0.1

O.OS

o 0,05 01
. 0.15 0.2 0.25 0.3 0.35 0.4 0.45
."
il 0

-0.05

-0.1

-0.15

-0.2

·0.2 ·0.15 ·0. 1 -0.05 0 0.05 0.1 0.15 0.2

XAlo:is

Fig. 9. Flux Trajectory (ffir = 600rpm)

{±
.�;±1:i+:2
o 005 0.1 0.15 0.2 0.25 0.3 0.35

Fig. 7. Speed, Torque response and id -iq stator current waveform for DTC
04 0.45
0.15
XVPlot

(ffir 900rpm)
=

As seen from torque response curve, at starting of PMSM,

torque ripple is larger, because initially electromechanical time
constant is much larger than electromagnetic time constant,
instantaneous rate of change of stator flux linkage is larger than
that of rotor flux linkage. When the actual motor torque o

becomes less than the given value, the angle between the stator X Ale,.

and rotor flux linkage increases, that leads torque growing fast; Fig. 10. Flux Trajectory (ffir = 900rpm)
and vice versa, after a exact equilibrium state; the torque as
well as speed settles very fast to final value. The estimated flux linkage and estimated torque for DTC is
shown in Fig 11 and Fig 12, for O)r 600rpm and 900 rpm =

respectively. A close observation of these two wavefonns

indicates that value of estimated Electromagnetic torque Te,
remains same for all values of speed and is only a function of
electromechnical torque TL, as motor have to balance load
torque. These estimated flux curve shows that it is increasing a
little bit with increase in speed reference and also with load
torque.
Estim'">t ..d Flu>< d
0,18

Fig. 8. Three phase stator current waveform (ffir = 600rpm and 900 rpm)
���'H" Estim",ted Flu.. q

��rti:,lftLl
The three phase stator current is shown in fig 8, will
remains same for all values of speed (O)r 600rpm and 900
=

rpm) only it changes with dynamic loading (value of load

torque), it may increase or decrease with value, as in this case o 0.05 0.' 0,15 0.2 0.25 0.3 0,35 0.4 0.45

increasing with increase in load torque as applied at 0.1 sec. Estim ..tedT ..

The stator current settles to a steady state value very fast within
two cycle.

The flux linkage response curves are shown in Fig 9 and

Fig.l 0 for speed reference of 600 rpm and 900 rpm
respectively
Fig. II. Estimated flux and torque waveforms (ffir = 600rpm)
 J;:�
V. CONCLUSION

The simulink model of proposed Direct Torque Control for

:J j [:
PMSM drive has been developed and analyzed. With sensing
a 0.05 D.' 0.15 0.2 0.25 0.3 0,35 0.4 0.45
of three phase stator voltages, this technique will be most

T"O'"'!" reliable and promising with reduced cost. Space vector pulse

Ii ,:j
width modulation technique have been used for six gate pulse
generation of three phase bridge inverter. A number of

l' " ,t". : ,:1

simulation results shows that DTC scheme has fast and smooth
dynamic response of torque and stator flux linkage followed by
o 0,05 0,' 0.15 0.2 0.25 0.3 0,35 0,4 0,45

excellent performance against sudden change in speed and

, i torque. In DTC scheme, the need of speed/Torque sensors may
f ,'-"-" -'"-"-'-"-"-" f"-'-"-' -"-'-"-'-"-'"-"-i-"-" -'-"-"-'-"-"-"-'_ T _ " - "-"'-"-" -" -"-'-"i"-"-'-"-'-"-'·-"-'-"-'- i.'·-"-'-·- ' ·-"-'-"-'·-'J."-'-"-'·-··-"-'-·
Co'_o"o

:
- - - - , - - - - - ; - - - - - , - - - - - - , .' - - - - - , - - - - , - -� - - - - , - - - - , - , - : - - , - - - - - - , - - - � - - - - - - , - - - - -� - , - - - - - - - - - ; also be eliminated; making it more reliable and robust. In order
' - " - ' - " - " - " - ' - " - ' - " - - " - " - '- " - '-"-" - " - ' - " - " "

2 ' , , ,

..... , .... ,:...... , ...... ,;.... , ...... , . : .... , .... , ... � .. , ...... , ...:. , ...... , .... ;. , .... , ......[ ...... , , .: , .
o

o O,OS 0,1 0.15 0.2 0.25

....

0,4
..... .....

0,45
to reduce harmonic content in stator current three level H­
bridge inverter topology based on SVPWM will be proposed.
The excellent dynamic performance of DTC for PMSM will
Fig. 12. Estimated flux and torque waveforms (wr = 600rpm)
make it more feasible for industrial implementation.

Optimal Voltage Estimator

Aux-Torque
.---___
- :!!limator
-"Est

xv Graph

Fig. 13. Simulink Model of Proposed DTC scheme for PMSM drive

[8] T.Rekioua, D.Rekioua, " Direct Torque Control Strategy of Permanent

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