INTERNATIONAL JOURNAL OF SCIENTIFIC & TECHNOLOGY RESEARCH VOLUME 8, ISSUE 10, OCTOBER 2019 ISSN 2277-8616

Fuzzy Based Approach For Direct Torque Control

Of Three Phase Induction Motor
K.B.Ravindrakumar, K.Karthick, D.Sivanandakumar, S.Sivarajan

Abstract— Induction machines have become very widely used in industrial and domestic applications due to their robustness, low cost
and high efficiency. The induction machines are using simple structure for delivering mechanical power from electrical power. The need for
variable exact driving speed of some industrial machines implies the use of speed control methods of induction machines. We can control
its speed by using scalar or vector control method. One of the methods in vector control is Conventional Direct torque control (CDTC). The
drawbacks of CDTC are high torque ripples, high ripples in flux and poor dynamic response. To overcome these drawbacks, in this paper
we proposed the improved CDTC using fuzzy logic controller called Fuzzy Direct Torque Control (FDTC). It uses the simple relations
between speed, torque, flux, and voltage to generate control voltages of a machine. The results of proposed method are validated using
MATLAB/Simulink software.

Index Terms— Asynchronous motor, Direct torque control, DTC, Fuzzy logic, FDTC, Induction motor, Vector control.

——————————  ——————————

1 INTRODUCTION
THE DC machines were broadly utilized for variable speed
industrial applications as an effect of the decoupled control of
torsion and flux that will be attained by independent control
of armature and field current. DC drives has advantages in
several factors like starting torque, simple management and
nonlinear performance. DC machine-based drive systems are
not majorly used in industrial applications because of the
presence of commutator and brush arrangement in their
construction [1]. The induction motor is the most used motor
type in the industrial and domestic applications. These types
of motors are preferred due to its simple and robust
construction, reliability and has self-starting capability.
Induction motors are also called asynchronous motor because
the mechanical speed they offer is different from their
electrical speed.
Three phase induction motor is a single excitation motor
whose stator winding is supplied from three phase source. The
rotor of an induction motor gains its energy by means of
induction from the stator. The three-phase voltage creates a
rotating magnetic field in the air gap. This rotating field
interacts with the windings of the rotor inducing voltage and
current in it. The rotating field rotates at a constant speed of
synchronization [2]. It forces the rotor to rotate generating
mechanical torque at all speeds except for the synchronous
speed. Induction motors can‘t run at synchronous speed, that‘s
why they are also known as asynchronous machines. Induction
motors are using a simple structure of electromechanical energy
conversion. In the squirrel-cage motors, the rotor can‘t be
————————————————
 K.B.Ravindrakumar, Professor, Department of EEE, Vel Tech Multi Tech
Dr.Rangarajan Dr.Sakunthala Engineering College, Avadi, Chennai.
E-mail id: eeeravikumar@gmail.com
 K.Karthick, Associate Professor, Department of EEE, GMR Institute of
Technology, Rajam.
E-mail id: kkarthiks@gmail.com, karthick.k@gmrit.edu.in
 D.Sivanandakumar, Assistant Professor, Department of EEE, Erode
Sengunthar Engineering College, Erode.
E-mail id: sivanandakumar@gmail.com.
 S.Sivarajan, Assistant Professor, Department of EEE, Vel Tech Multi Tech
Dr.Rangarajan Dr.Sakunthala Engineering College, Avadi, Chennai.
E-mail id: sivarajan@veltechmultitech.org
accessed under any condition. No need for brushes like in DC
machines; or slip rings like in synchronous and wound AC
machines [3]. This fact increases the use of induction motor in
environments where the danger of fire exists. Because brushes
and moving contacts cause sparks that can be a source of fire.
Another dimension of strength in squirrel cage motors resides
in the lack of wiring in their rotors. These rotors windings are
built of strong bars that can withstand higher currents and work
under heavy electrical and mechanical overloads.
Wound-rotor induction motors are less common in industry
and used in limited applications where there is need for access
to the rotor‘s circuit [4]. The rotor in these motors is provided
with slip rings to give access to the moving windings from
outside to add some external resistance to control the
characteristics of the motor.
When the motor reaches its nominal speed, the external
resistances can be removed, and the ends of the rotor‘s
windings are short-circuited. Speed control of industrial motors
is a very important subject due to the vital influence of speed on
some applications [5]. Although squirrel cage motors are cheap
in comparison with other six types of motors, their control is a
bit costly. Different speed and torque control methods exist for
induction motors. The speed control of motors implies the use
of power electronic converters to provide the desired control of
different parameters of voltage and frequency [6].
2. REVIEW OF EXISTING WORK
The concept of direct torque control (DTC) is very
advanced when compared with many other techniques. Many
were implemented this technique in different ways. Some of
the methods are flux compensated DTC of asynchronous
motor drive for operation at low speed [7], DTC of
asynchronous motors using three-level voltage source
inverters (VSI) [8], global less torque ripple design for DTC of
asynchronous motor drives [9], discrete control method of
duty cycle for DTC of asynchronous based drives [10] and
DTC of asynchronous motor using space vector modulation
(SVM) [11]. In flux compensated DTC of asynchronous motor
drives [7], a new sensor less asynchronous motor drive which

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utilizes an adaptive observer of flux for speed assessment and
discrete-time DTC method for torque and stator field control.
The type of observer requires a model of mechanical to
advance the speed estimation for the duration of speed
transients. The assessed stator field of the adaptive observer is
utilized in the discrete-time DTC method to offer fast response
in torque and free from ripple in the operation over the wide
speed range. From this technique, it is seen that there is only a
small speed estimation error during the speed transient. The
sensor less drive can operate at high speed and the dynamic
performance is very good, both during transient operation and
steady state operation.
In DTC of induction motors using three-level VSI [8], the
technique to produce the torque by stator flux compensation
in effective way that makes the DTC applicable to
asynchronous electrical drives in the operating region at low
speed. Instead of indirectly estimating the stator resistance to
compensate the stator flux, this study directly uses the speed
error to compensate the stator flux without identifying the
stator resistance when the motor is being operated at low
speeds.
The flux compensator is effective only in the operating
region at low speed, because in the high-speed region the
estimated stator flux is precise enough so that the DTC
switching table can output a proper voltage vector. The flux
compensator is activated only when speed error always exists.
Once the speed error is reduced, the flux compensated DTC is
the same as the usual DTC. In global low torque ripple design
for DTC of asynchronous motor drives [9], a control strategy
for asynchronous motors based on DTC is described that
applies a three-level inverter in its place of the regular two-
level inverter.
The stator currents harmonic distortion and the power
semiconductor switching frequency are also minimized in the
proposed system. The three-level VSI has merits over the
standard two-level VSI such as a more level in the output
voltage, low harmonic distortion, and low switching
frequency.
In discrete duty cycle based control method for DTC of
asynchronous motor drives with model predictive solution
[10], they proposed a DTC which provides a global less torque
ripple, which satisfies the root-mean-square torque ripple
criteria. The global less torque ripple DTC is a two-step
design. The first step derives the torque error to zero at the
end of the control period. Then, the next step minimizes the
torque bias and rms ripple by changing the voltage vector
asymmetry pattern in switching of the first step into symmetry
ones. The common concept to reducing the torque ripple is the
synthesis of a higher amount of voltage space vectors with
respect to those used in basic DTC techniques. In DTC of
asynchronous motor using SVM [11], they proposed a new
duty cycle based control technique to minimize torque and
flux ripples of the conventional DTC.
A new approach is presented to choose the suitable voltage
vector and by implanting the zero- voltage vector along with
the chosen one. Lower torque and flux ripples are achieved in
this method. The implementation of conventional DTC using
above methods are hard to implement and has some
drawbacks. To get better performance, fuzzy logic based
controller has been presented to replace the hysteresis
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controller and switching table in conventional DTC. The fuzzy
logic based controller is planned to have three inputs and one
output. It determines the desired inverter vector state. The
fuzzy logic-based DTC is very easy to implement, and it
reduces the torque and stator flux ripples in induction motor
drive.
2.1 Vector Control Techniques
Vector control has become the most popular control
method of induction machines during the last 20 years. Vector
control enables induction machines to be utilized in
applications where DC machines used to be applied in the
past [12]. The advantages of induction machines over DC
machines are lower cost of purchase and maintenance, better
reliability in hostile environment, higher efficiency, simplicity,
ruggedness, absence of brushes, etc. However, vector control
method requires more hardware and software than the control
system of DC machines.
Vector control principles utilize reference frame
transformation to refer three phase quantities to a rotating
reference frame with fictitious direct and quadrature axes. In
simple terms, vector control can be defined as a set of control
algorithms that enable conversion of an AC machine into its
equivalent DC machine counterpart from the control point of
view.
The main characteristic of vector control is the independent
and indirect control of torque and flux by two components d
and q of the stator current in a rotating reference frame [13].
However, this is achieved by using co-ordinate transformation
and current control loops, which make the control system
more complicated. The main characteristics and shortcomings
[14] of vector control may be summarized as follows.
 In addition to other controllers, current controllers (in
stationary or rotating reference frame) are required.
 At least one co-ordinate transformation has to be
executed on-line, in real time.
 A separate PWM block is required for the inverter
control.
 A decoupling circuit is required, unless rotor flux-
oriented control with current control in stationary
reference frame is used.
 A precise estimate of the instantaneous position of the
selected flux space vector is necessary.
 All the schemes are to some extent affected by variation
of induction machine parameters.
There are different vector control methods of an induction
machine. Among which DTC is one of best possible solution
for variable frequency drives to control the torque and speed
of induction motors.
3. FUZZY BASED APPROACH FOR DIRECT TORQUE
CONTROL
The optimal voltage vector is selected to limit the torque
and flux errors within the hysteresis bands. The advantages of
this control method are rapid response of torque in transient
operation and enhancement in the steady state efficiency. The
conventional DTC has high torque ripples and poor dynamic
response [15].
The electric drives used in industry are adjustable speed
drives and in most of these drives AC motors are used.
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Induction motors are the best in these drives [16]. So active
control of asynchronous motor parameters like speed, torque
and flux are of utmost importance. The machine learning
algorithms applied in other applications [17-20] can also be
used for speed control with certain modifications. From the
study of the control approaches, it is identified that torque
control of AC motor could be accomplished according to
various methods ranging from low-cost Volts/Hz ratio
approach to sophisticated sensor less based vector control
method. But every scheme has its disadvantages like losses,
the requirement of separate current control loop, coordinate
transformation, current ripple and torque etc. In this work, the
principles of DTC method combined with artificial intelligent
controller based on fuzzy logic will be discussed and used.
The controller with DTC control will be simulated on an
induction machine of squirrel type under different conditions.
3.1 Principle of Vector Control
The block diagram of basic approach is shown in figure 1.
The output from the model is given to the controller which
convert these signals back to the AC form to fed the induction
motor. The motor phase currents 𝑖𝑎, 𝑖𝑏, 𝑖𝑐 are converted to 𝑖𝑑𝑠𝑠
and 𝑖𝑞𝑠𝑠 in the stationary reference frame. These are then
converted to the synchronously rotating reference frame d-q
currents, 𝑖𝑑𝑠 and 𝑖𝑞𝑠. In the controller, two transformations are
performed i.e. Clarke and Park transformation.
Fig. 1. Vector control implementation principle with machine 𝒅𝒆-𝒒𝒆 model
a) Clarke transformation
Transformation from 3 phase to 2 phase stationary axes 𝑖𝑠𝛼
and 𝑖𝑠𝛽. A 3-phase symmetrical machine is deliberated with
stationary a-b-c axes at 1200 difference as shown in figure 2.
Fig. 2. Axis transformation from as-bs-cs to 𝒊𝒔𝜶- 𝒊𝒔𝜷
The above projection modifies the three -phase system into
the (α, β) two-dimension orthogonal system as stated below
𝑖𝑠𝛼=𝑖𝑎 (1)
𝑖𝑠𝛽 = (2)
The voltages 𝑣𝑎𝑠, 𝑣𝑏𝑠, 𝑣𝑐𝑠 are the voltages of as, bs, cs phases
consecutively. Now if the stationary axes 𝑖𝑠𝛼 and 𝑖𝑠𝛽 are tailored
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at angle θ as shown and the voltages across 𝑖𝑠𝛼 and 𝑖𝑠𝛽 axes to
be 𝑣𝑑𝑠𝑠 and 𝑣𝑞𝑠𝑠 consecutively, the two-phase stationary
voltages can be transformed to 3 phase voltages based on
math equations as follows:
𝑣𝑎𝑠=𝑣𝑞𝑠𝑠 cos 𝜃+𝑣𝑑𝑠𝑠 sin 𝜃 (3)
𝑣𝑏𝑠=𝑣𝑞𝑠𝑠 cos (𝜃 − 120°) + 𝑣𝑑𝑠𝑠 sin (𝜃 − 120°) (4)
𝑣𝑐𝑠=𝑣𝑞𝑠𝑠 cos (𝜃 + 120°) + 𝑣𝑑𝑠𝑠 sin (𝜃 + 120°) (5)
The phase voltages in matrix form can be written as:
= (6)
By inverse transformation, 𝑣𝑑𝑠𝑠 and 𝑣𝑞𝑠𝑠 can be written in
terms of three phase voltages in matrix form as follows:
(7)
Where = zero sequence component.
b) Park transformation
Transformation from 2 phase stationary to 2 phase
synchronous rotating frame of
reference. The stationary axes 𝑖𝑠𝛼 and 𝑖𝑠𝛽 are translated to 𝑖𝑠𝑑
and 𝑖𝑠𝑞 synchronous rotating frame of reference that is moving
with speed 𝜔𝑒 w.r.t axes 𝑖𝑠𝛼 and 𝑖𝑠𝛽 by the use of figure 3.
Fig. 3. Transformation from stationary α-β frame to synchronous rotating
frame d-q
Here, θ is the rotor flux position. The torque and flux
components of the current vector are determined by the
following equations:
𝑖𝑠𝑞=𝑖𝑠𝛽 cos 𝜃+𝑖𝑠𝛼 sin 𝜃 (8)
𝑖𝑠𝑑=𝑖𝑠𝛼 cos 𝜃+𝑖𝑠𝛽 sin 𝜃 (9)
The voltages 𝑣𝑑𝑠𝑠 and 𝑣𝑞𝑠𝑠 can be transformed to voltages on
axis 𝑖𝑠𝑑 and 𝑖𝑠𝑞 based on the below equations:
𝑣𝑑𝑠=𝑣𝑞𝑠𝑠 cos(𝜃𝑒) - 𝑣𝑑𝑠𝑠 sin(𝜃𝑒) (10)
𝑣𝑞𝑠=𝑣𝑑𝑠𝑠 cos(𝜃𝑒) + 𝑣𝑞𝑠𝑠 sin(𝜃𝑒) (11)
The rotating frame arguments to stationary frame
transformation is given in below equations:
𝑣𝑞𝑠𝑠 = 𝑣𝑞𝑠 cos(𝜃𝑒) + 𝑣𝑑𝑠 sin(𝜃𝑒) (12)
𝑣𝑑𝑠 = −𝑣𝑞𝑠 sin(𝜃𝑒) + 𝑣𝑑𝑠 cos(𝜃𝑒)
𝑠 (13)
3.2 Results and Discussion
In this work, the construction of the induction machine, the
structure of fuzzy logic controller and the DTC method for the
speed control of induction machine have been discussed. The
DTC method as one of the most important and simple control
methods of induction machines has been discussed and
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presented. A fuzzy logic controller will be used to increase the

stability of system in transient and steady states of the
machine. This chapter of the work is sacrificed for the study
and discussion of the proposed control methods and the
comparison between the obtained results. All results will be
presented and tabulated. During this work, a
MATLAB/Simulink standard three phase induction motor was
used. The parameters of the motor are all given in table 1.

TABLE 1. PARAMETERS OF THE THREE-PHASE INDUCTION MOTOR

Motor Type Squirrel cage
Power 60 kVA
Voltage 415 V
Frequency 50 Hz
Mutual L 10 mH Fig. 4. General structure of Simulink model
Inertia 3.1 kg.𝑚2
Stator L 0.3 mH
Stator R 0.148 Ω
Rotor L 0.3 mH
Rotor R 0.0093 Ω
Poles 4
Three phase power source, three phase bridge rectifier,
breaking chopper, and a three-phase VSI were used to supply
the induction motor with the need power. General model of
the simulation circuit is presented in figure 4. The rectifier is
used to supply with DC voltage that is fed to a chopper. The
chopper makes sure that the voltage at the DC side of the Fig. 5. Block diagram of speed controller and its structure
rectifier/inverter doesn’t exceed certain limit. The inverter is
responsible to generate three-phase AC control voltages.
In this model, two controller types were used namely PI
controller and fuzzy logic controller. These two controllers are
used as seen in figure 5 & 6 to control the speed of the
induction motor.
The reference speed slope is firstly adjusted to avoid any
sudden changes in the speed. Sudden speed changes can’t be
obeyed due to the slow response of motors compared to the
other electronic devices. The reference speed is then compared
with the measured actual speed of the motor to generate the
input of the controller. The error is then fed to the controller to
generate the suitable torque value that the motor should Fig. 6. Simulink model of Fuzzy logic controller
generate to make the error zero.
Figure 7 presents the Simulink model of the DTC. It
contains blocks for torque and flux calculation, hysteresis of
torque and flux, output voltage vector decision block and the
gate pulse generation block. The contents of hysteresis block
are presented in figure 8. It generates 3 different output levels
for the torque and two levels for the flux. In figure 9 the
transformations, torque, and flux calculation are presented.

Fig. 7. Model of the DTC Simulink block diagram

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3.3. Simulation Analysis of DTC drive with PI and Fuzzy

Controller
In this model, different set speeds and different load
torques were applied on the motor. PI controller is still able to
show good results and small errors. Figure 11 presents the
speed of the motor. Figure 12 and 13. present the current and
line voltage generated by the VSI. Figure 14 presents the
torque of the motor.

Fig. 8. Flux and Torque hysteresis block

Fig. 11. Desired and actual rotor speed in case of PI controller

Fig. 9. Torque and flux calculation block

The waveforms of three phase input voltage, three phase

input current and output voltage of VSI are shown in figure10
(a), (b) and (c) respectively.
Fig. 12. Current of the motor

Fig. 10(a) Three phase input voltage

Fig. 13. Output voltage of VSI to motor

Fig. 10(b) Three phase input current

0. 0.
Fig. 14. Reference torque and Electromagnetic torque
1 5

The stator flux vector trajectory is almost circular. In figure

15, it can be noticed that fuzzy controller offers the fast-
Fig. 10 (c) Output voltage of VSI transient responses and has better performance than the
CDTC method.

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Fig. 15. Stator flux vector trajectory (a) CDTC (b) FDTC
Fig. 16. Torque response (a) CDTC (b) FDTC (c) Conventional and fuzzy
DTC
Fig. 17. Response of stator flux magnitude (a) CDTC (b) FDTC (c)
Comparison
Figure 16 and 17 presents the torque and stator flux
response of both CDTC and FDTC and compared between
those results. It is clear that the fuzzy logic controller is faster
in response with less transient fluctuations.
4. CONCLUSION
The control of induction motors using DTC method with
fuzzy logic controller is simple, efficient, with the output of
desired values of speed and torque. The DTC was combined
with PI controller for speed regulation. PI controllers are
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considered the most commonly applied controllers in industry
due to their simple functional principles and the ease of their
implementation. The use of fuzzy controller was proposed in
this work to increase the accuracy of speed results in addition
to the ability of fuzzy logic controller to react against sudden
changes and non-linearity of the system. Fuzzy controller has
proved its efficiency and good results when used with
conventional DTC control scheme. The method implies no
closed loop control of the VSI. From the obtained results we
can conclude that fuzzy logic controller with DTC method is a
very excellent choice for the control of induction machines in
term of low cost, simplicity, and efficiency. Improved results
with sudden changes in the desired speed were achieved by
replacing the traditional PI controller by a nonlinear fuzzy
logic controller. That is, higher stability of the control system
and the machine is achieved in addition to fast and exact
system response.
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