22 ELECTROMOTION 18(2011) 22-28

Direct torque control of induction motor

fed by three-phase PWM inverter
using fuzzy logic and neural network
F. Kadri, S. Drid, D. Djarah and F. Djeffal
Abstract - In this paper an intelligent direct torque control (DTC) is appliedfor induction motor control fed by three phase
PWM inverter. Two control approaches using fuzzy DTC, and neural-network DTC are proposed and compared. The
validity of these control schemes is verified by simulation tests of an induction motor drive system. The stator current, flux,
torque and speed are determined and comparedfor the proposed techniques using Matlab-Simulink environment.
Keywords: direct torque control (DTC), fuzzy logic, neural network, induction motor, PWM inverter, switching algorithm

1. Introduction 2. Basic DTC

In this work, we developed a strategy of an
intelligent control based on neural network, and
fuzzy logic for induction motor control.
The proposed control consists of an estimation
of stator flux vector and electromagnetic torque,
a neural network controller [1], fiizzy logic
controller [2], and regulation based on the theory
of direct torque control (DTC).
The objective of our work is to implement of
different switching patterns by fuzzy, and neural
network that describe the selection strategies of
the inverter state exploiting the simplicity of
implementation and robustness offered by
artificial intelligent control.
In a first approach, a fuzzy controller will be
studied and implemented for using DTC control
by a fuzzy logic selector without classical
switching table.
In the second approach, we replace the
classical switching table, by a neural network
controller to operate as a selector of the voltage
vector.
In this context the simulation results using the
two approaches will be presented. The modeling
of three phase inverter, and induction motor has
been discussed in several papers [3]-[4]-[5]-[6]-
m.
DTC technique is a convenient, relatively
complete and easy applicable method. In this
method, the required stator flux and torque are
determined and a proper switching pattern of the
inverter is then applied. Since the motor input
voltage contributes in both flux and required
torque, a proper switching pattern for inverter
firing is essential.
In order to define the inverter switching
pattern using flux and torque errors, two
hysteresis controllers, one for the flux and other
for torque are employed. [8]. At any instant, the
inverter is switched on using these errors and
position of stator flux over six-region control in
such a way that the inverter output voltage vector
«Ps
Fig. 1. Induction-motor basic-DTC block-diagram.

© 2011 - Mediamira Science Publisher. All rights reserved.

 F. Kadri et al. /Direct torque control of induction motor fed by three-phase PWM inverter 23

minimizes the flux and torque errors and defines TABLE 2. Values of the control signals.
the direction of the flux rotation. SaS(,Sc 000 100 110 010 Oil 001 101 101
The outputs of these controllers are Sa, Sb and
5c where their values (0 or 1) are used to V,,,=0.7 Vo Vi V2 Va V4 Vs Ve V7

determine the inverter output voltage vector.

The control algorithm of this technique can be 3. Development of two intelligent approaches
summarized as follows [8].
a) Fuzzy DTC
if AT > £j Then Kj. =\.
The proposed fuzzy controller is Sugeno
ifO <AT <e^ and dAT ldt>0 Then K^ = 0. model, using triangular and trapezoidal
ifO <AT <ej and dAT I dt<0 Then K^=\. membership for inputs, and constant
( Ki,/ = O,...7.) for output.
if-e^ < AT <Oand dAT I dt > OThen Kr=-l.
if-Sj < AT<Oand dAT I dt<OThen K^. = 0.
if AT < -Sj Then Kj = - 1 .
(1)
// A(p > s^ Then K^=\.
if-s^ <AT < e^ and dAT / dt > 0 Then Kj.=-\.
if-e^ <AT < s^ and dAT I dt<0 Then Kj.=l.
Torque error (AT) Flux error (A()»)
if àç <-£^ ThenK^ = -\.

(2)
Where ET and Go are the predefined error
levels of the torque and flux respectively.
Finally, based on the values of constants KT and
K(D and the position of the stator (six-region
control), the inverter switching algorithm is as
shown in Tab. 1.
Flux Sector (S) Voltage Vector(Fi, / = 0, ...7)
TABLE 1. Switching table for basic DTC.
Fig. 3. Fuzzification of inputs and output.
Ns 1 2 3 4 5 6
KT = 1 V2 Va V4 Vs Ve Vi
In this approach, we replaced the two
K<I)=1 KT = O
hysteresis controllers (basic DTC) and the
V7 Vo V7 Vo V7 Vo
KT = -1
switching table by a single fuzzy controller with
Ve Vi V2 Va V4 Vs
torque error, flux error and Flux sector as inputs.
KT = 1 Va V4 Vs Ve Vi V2
Ki) = -1 KT = O Vo V7 Vo V7 Vo V7
Torque—/ ST',
KT = -1 Vs Ve Vi V2 Va V4 ref«*
Flux Fuzziftcstion
refer«nc«
s !.

+1 InTercnc«

ifuzziitcatk» Inverter
S»,
0 0 f
Sc
Fig. 2. Torque and flux hysteresis comparator.
Flux Torque & Flux
In Table 2, the 3-digit numbers deflne the Torqu»
switching vector where digits from left to right
Fig. 4. Induction-motor ftizzy-DTC block-diagram.
give values of iSa, Sb and 5c respectively.
24 F. Kadri et al / Direct torque control of induction motor fed by three-phase PWM inverter

The vector voltage of the inverter will be the In this approach, we replaced the switching
control output. table of basic DTC by a neural network
The control strategy depends mostly on controller with torque error ET, fiux error So and
inference rules. The inference is based on the number of sector S as inputs. The vector voltage
method of sum-product inference. To simplify of the inverter will be the control output
the description of inferences, we use a table F/,/ = 0,...7.
inference, Table 3. For defuzzification, the center The training of the neuron network to obtain
of gravity method was used. the wished outputs was obtained with an error of
TABLE 3. Inference rules. 1% and 35 neurons in the hidden layer. The
number of the off-line training epochs is 28 to
A<D AT
Si Sz S3 S4 Ss Se reach the 0.01-imposed error "Fig 6".
N Vs Ve Vi V2 Vs V4
N Z Vo V7 Vo V7 Vo V7
P Vs V4 V5 Ve Vi V2
N Ve Vi V2 V3 V4 Vs
P Z V7 Vo V7 Vo V7 Vo
P V2 Vs V4 V5 Ve Vi

b) Neural-network DTC
The neural network with back propagation
learning algorithm consists of an input layer,
output layer and a hidden layer. The weighted Fig. 6. Training Error ofthe Developed Neuron Network.
connection between two successively layers have
their values determined by the iterative learning 4, Simulation results
stage. Specifications of the motor under control are
Due to the parallel data processing, the summarized as follow:
learning capacity the generalizing and
synthesizing properties, the neuron network can TABLE 4. Characteristics ofthe induction motor.
extract the adequate mathematical model from F P V Rs Rr Ls=Lr M J
(Hz) (KW) P (V) Q Ci (H) (H) (kgm')
the presented input pattern and provide the good
approximation of the desired target in the 30 1.5 2 280 0.5 1 0.105 0.1 0.02
irrelevant case too [1].
Direct Torque Control Modeling of induction
motor was performed in the environment of
Matlab-Simulink simulation. The DTC structure
is made in the form of various blocks.
The realization of neural network controller
was through programming in Matlab (*.m files).
The training was performed offiine, and then the
transition to the neural network control Simulink
model will be called by Matlab function.
Concerning fuzzy controller, it is through the use
of the toolbox of fuzzy logic which is called a
file (*.Fis).
Fig. 5. Induction-motor neural-network-DTC block-
diagram.
 F. Kadri et al. / Direct torque control of induction motor fed by three-phase PWM inverter
We performed a simulation of the system to
estimate the performance of both approaches
under transient and steady states.
a) General performance of the system
"Fig. 7," shows the system start-up
stabilization in order to observe its dynamic
behavior under transient state, until it reaches its
steady state.
We observe that the control system reaches its
steady state by showing good performance and
(a)
.1
i propose to do three tests with a sampling time of
1
.[ :
iiüi
(b)
Fig. 7. System response in start-up state: (a) ftizzy DTC,
(b) neural-network DTC.
25
great stability for the two approaches. The fiux
and torque stabilize around their reference
values. {Fs = 0.75 Wb), (Ts = 6N.m.).
We note also, that the torque ripples are
greater than the fiux ripples. This is due to the
stator phase currents, which directly affect tlie
torque. Torque is resulting from the vector
product of current and fiux. The infiuence of
currents on the fiux is secondary since it is
mainly infiuenced by the voltage vector.
The stability of the system can be observed
over the stator phase current isa, which presents a
sinusoidal form. The curves obtained by the
controllers for the two approaches have the same
look, except a slight difference, which is
observed at the start-up state:
• Torque and Flux ripples are larger in Neural
network DTC than those obtained by Fuzzy
DTC.
• In the neural network DTC, the fiux reaches
its reference and stabilizes in steady slightly
faster but it gave large ripples than the Fuzzy
DTC.
• Current dynamic given by Fuzzy DTC was
better than those given by the neural network
DTC.
b) Steady-state performance of the system
In practice, there are two important factors
that affect the performance of the DTC: the error
bands, and sampling frequency.
Concerning the error bands, the practice has
shown that the choice to 4% of the nominal
values gives the best operating range [8]. This
justifies the choice of this value in our simulation
work.
To observe the robustness and system
performance in steady state, we conducted the
simulation in order to observe the infiuence of
references (torque and fiux). In this way, we
(30 /.s).
The simulation tests were done in steady state
when the system stabilizes after a sufficient time
{t = 2s).
To evaluate the efficiency of control system
for the two controllers (according to both
approaches), three tests are performed as follow:
26 F. Kadri et al. /Direct torque control of induction motor fed by three-phase PWM inverter

1) Responses to a Variation of Flux as can be seen on its dynamics.

(0.75 ^0.5-^O.lSWb)
2) Responses to a torque reversal
We can see that the variation of the flux ( + 6 ^ - 6 - ^ + 6 N.m)
causes a destabilization in the torque and the
stator current phase i^^ for a few moments after We can see that the system follows its new
reference quickly by keeping its stability after the
they left their stable state. We note that this
change in torque reference. This is observed in
destabilization enhances the stability of torque.
the stator current i^^. We also note that the torque
tWiRl k<|i*>n fur nq
inversion has no influence on the flux.

(a) (a)

»( ^ 03 \ i-
Di

01

0!
p rh
43 ,,.-i,y.L
44 \ iT'i"
«C •••\r'"i i
r'>>¿^ ;
i i i

(b) (b)
Fig. 8. System response in steady-state for flux variation Fig. 9. Steady-state response of the system for torque
(0,75 ^ 0 , 5 - + 0 , 7 5 (f*):: reversal ( + 6 -^ -6 -* +6 Nm):
(a) ftizzy DTC, (b) neural-network DTC. (a) fijzzy DTC, (b) neural-network DTC.
 F. Kadri et al. /Direct torque control of induction motor fed by three-phase PWM inverter
3) Responses to an Inversion of Torque
( + 6 -> - 6 —> +6 N.m) and a Variation of
the Flux ( 0 . 1 5 ^ 0 . 5 ^ 0 . 1 5 W b )
This test includes the conditions of the first
and the second test. It illustrates the decoupling
control between torque and flux "Fig 10". We
can note that the inversion of torque does not
affect the stability of flux and the variation of
flux does not also affecting the stability of
I zs J «I
(•tor ourT*nt of ph*«« m (Fuczy OTC)
-»8!
(a)
1 t.3 14 1.6 1.a
(b)
Fig. 10. Torque reversal (+6 -> - 6 -> +6 N.m) and flux
variation {075 ^0.5 ->0 75»*):
(a) ftizzy DTC, (b) neural-network DTC.
27
torque. We see a decoupling in control between
flux and torque in both approaches.
5. Conclusions
The objective of this work was at first, to
realize an intelligent control system based on
DTC applied to an induction motor fed by a
PWM three phase voltage inverter. In the second
place, improving dynamic performance; by
introducing fuzzy and neural network regulators.
In this paper, it has been mainly described the
implementation of a law of robust control by
presenting fuzzy and neural-network DTC
approaches. Fuzzy and neural network strategies
of switching without the need of the classical
switching table have been proposed. This opens
the way to the development of several algorithms
«e -04
based on intelligent control like neuro-fiizzy, as a
prospect for this work.
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Received November 26, 2010

Dr. F. Kadri
Dr. D. Djarah
Department of Electrical Engineering
'Kasdi Mer bah ' University ofOuargla
Ouargla, Algeria

Assoc.Prof. Said Drid

Department of Electrical Engineering
'Hadj Lakhdar ' University ofBatna
Batna, Algeria

Dr. F. Djeffal
Department of Electronics
'Hadj Lakhdar' University ofBatna
Batna, Algeria
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