J Electr Eng Technol.

2015; 10(4): 1527-1539 ISSN(Print) 1975-0102

http://dx.doi.org/10.5370/JEET.2015.10.4.1527 ISSN(Online) 2093-7423

Design and Implementation of Direct Torque Control Based

on an Intelligent Technique of Induction Motor on FPGA

Saber Krim†, Soufien Gdaim*, Abdellatif Mtibaa* and Mohamed Faouzi Mimouni**

Abstract – In this paper the hardware implementation of the direct torque control based on the fuzzy
logic technique of induction motor on the Field-Programmable Gate Array (FPGA) is presented. Due
to its complexity, the fuzzy logic technique implemented on a digital system like the DSP (Digital
Signal Processor) and microcontroller is characterized by a calculating delay. This delay is due to the
processing speed which depends on the system complexity. The limitation of these solutions is
inevitable. To solve this problem, an alternative digital solution is used, based on the FPGA, which is
characterized by a fast processing speed, to take the advantage of the performances of the fuzzy logic
technique in spite of its complex computation. The Conventional Direct Torque Control (CDTC) of the
induction machine faces problems, like the high stator flux, electromagnetic torque ripples, and stator
current distortions. To overcome the CDTC problems many methods are used such as the space vector
modulation which is sensitive to the parameters variations of the machine, the increase in the switches
inverter number which increases the cost of the inverter, and the artificial intelligence. In this paper an
intelligent technique based on the fuzzy logic is used because it is allows controlling the systems
without knowing the mathematical model. Also, we use a new method based on the Xilinx system
generator for the hardware implementation of Direct Torque Fuzzy Control (DTFC) on the FPGA. The
simulation results of the DTFC are compared to those of the CDTC. The comparison results illustrate
the reduction in the torque and stator flux ripples of the DTFC and show the Xilinx Virtex V FPGA
performances in terms of execution time.

Keywords: Direct torque control, Fuzzy Logic Control (FLC), Induction motor, Real time, Xilinx
system generator, FPGA.

1. Introduction as well as good robustness to against changes of motor

In the last few years, the most digital implementations of
control algorithms of electric machines are based on
software solutions such as microcontrollers and digital
signal processor. However, these solutions present some
disadvantages; for example, the used sampling period is
limited by the time of computation. To overcome the
traditional software solution limitations, new hardware
solutions such as the FPGAs can be used, which present
the appropriate digital solutions for the implementation of
control algorithms. The inherent parallelism of these new
digital solutions as well as their large computing capacity,
making computation time delays, are negligible despite the
complexity of the algorithms to implement.
The conventional direct torque control of the induction
motor is characterized by outstanding dynamic performances
† Corresponding Author: Laboratory of Electronics and Microelectronics
of the FSM, University of Monastir, Tunisia. (krimsaber@hotmail.fr)
* Laboratory of Electronics and Microelectronics of the FSM,
University of Monastir, Tunisia. (sgdaim@yahoo.fr, abdellatif.
mtibaa@enim.rnu.tn)
** Research Unit of industrial systems Study and renewable energy
(ESIER), National Engineering School, University of Monastir,
Tunisia. (Mfaouzi.mimouni@enim.rnu.tn)
Received : October 17, 2014; Accepted : December 27, 2014
parameters. However, the Conventional Direct Torque
Control (CDTC) also has some drawbacks, like high
electromagnetic torque and stator flux ripples and high
stator current distortion [1-3]. To improve the CDTC
performances, many methods are used, such as the fuzzy
logic control, the Space Vector Modulation (SVM) [4-6],
and the increase in the switches inverter number [7].
Nevertheless, the use of SVM needs several motor
parameters and increases the complexity of the Direct
Torque Control (DTC) algorithm. Moreover, the rise in the
switches inverter number increases costs. In this work, our
orientation is focused to the fuzzy logic control, because it
is an effective technique used where mathematical model is
complicated or the mathematical model does not exist, as
well it is allows controlling the systems without knowing
the mathematical model. The objective of this work is to
implement the Direct Torque Fuzzy Control (DTFC) of the
induction motor on the FPGA in order to take advantage
of these performances in the field of digital control of
electrical machines in real time. The Fuzzy Logic Control
(FLC) is used to replace the switching table, the sector
block and the two hysteresis comparators [8].
During the last few years several researchers use the
hardware implementation on the FPGA for controlling

1527
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 Design and Implementation of Direct Torque Control Based on an Intelligent Technique of Induction Motor on FPGA

electrical system [9-15]. Most of them use the VHDL ω 1

+ ϕS β + v
(VHSIC hardware description language). In this study, the σ LS σ ∗ LS Sα
Xilinx System Generator (XSG) is used to automatically RS Rr
generate the VHDL code. The advantages of this method +
diS β LS Lr ω
are the rapid time to market, real time, and portability. = −ωiSα + iS β − ϕ
dt σ σ LS Sα
Rr 1 (1)
+ ϕS β + vS β
2. Contributions of Xilinx System Generator σ Lr LS σ ∗ LS
d ϕ Sα
= − RS iSα + v
The XSG is a modeling tool developed by the Xilinx to dt Sα
design implemented systems on the FPGA. It has a library dϕ S β
of varied blocks, which can be automatically compiled = − RS iS β + vS β
dt
into an FPGA [16]. In this work, the (XSG) is used to
implement the DTFC architecture of the induction motor
where, iS, φS, VS, R, and L denote the stator currents, stator
based on Fuzzy Logic Control (FLC) algorithm on an
flux, stator voltage, resistance, and inductance, respectively,
FPGA. In the first step, we begin by implementing the L2
proposed architectures using the XSG blocks available on and where ω denotes the rotor speed and σ = 1 − m is
Ls Lr
the Simulink library. Once the Design of the system is
the redefined leakage inductance.
completed and gives the desired simulation results, the
The electromagnetic torque of the induction motor can
VHDL code can be generated by the XSG tool [17]. The
be expressed in terms of stator currents and stator flux,
design flow of the XSG is given in Fig. 1. After generating
which is given by the following expression:
the VHDL code and the synthesis, we can generate the
bitstream file. Then we can move this configuration file to
3
program the FPGA [18]. Tem _ est = p (ϕ sα isβ − ϕ sβ isα ) (2)
2

The mechanical speed equation is given by the following

equation:

dΩ 3 T
= p (ϕ sα isβ − ϕ sβ isα ) − L − f Ω (3)
dt 2 J

where p is the number of pole pairs, J and TL denote the

moment of inertia of the motor and the load torque, Ω is
the rotor mechanical speed (pΩ=ω), and f is a viscous
friction coefficient.

3.2 CDTC Principle

The basic principle of the CDTC is based on the

application of a voltage particular sequence via a voltage
Fig. 1. Xilinx system generator design flow inverter, whose waves are generated through hysteresis
comparators in which the flux and torque are trapped to
follow their references [20]. The components of the
3. Basic CDTC Principle of Induction Motor stator voltage vector in the stationary reference frame are
calculated as follows:
3.1 Induction machine model
⎧ 2 S + Sb
⎪vsα = vdc ( Sa − b )
The model of the induction motor expressed in the ⎪ 3 2
stationary “αβ” axes reference frame can be described by ⎨ (4)
⎪v = 1 v ( S − S )
[19]: ⎪⎩ sβ dc b c
2
RS Rr
+ where Vdc is the DC bus voltage.
diSα LS Lr Rr The components of the stator current vector are given by
= i Sα − ωiS β + ϕ Sα
dt σ σ Lr LS the following expression:

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 Saber Krim, Soufien Gdaim, Abdellatif Mtibaa and Mohamed Faouzi Mimouni

⎧ 3
⎪⎪isα = isa
2
⎨ (5)
⎪i = 1 (i − i )
⎪⎩ sα 2
sb sc

The module of the stator flux is given by Eq. 6:

ϕ s = ϕ s2α + ϕ s2β (6)

The angle between the stator flux ϕ s (ϕ sα ,ϕ sβ ) and the Fig. 2. Partition of the complex plan in six angular sectors
reference axis is given by Eq. (7):

ϕ sβ 230/380v
50 Hz
θ s = arctg ( ) (7)
ϕ sα
Switching Table
The estimated values of the torque and stator flux are Eϕ
1
Ec S1
V2
S2
V3
S3
V4
S4
V5
S5
V6
S6
V1
1 0 V7 V0 V7 V0 V7 V0
(S a Sb Sc ) isa b
compared to the reference values Te* and φS*, respectively. 0
-1
1
0
V6
V3
V0
V1
V4
V7
V2
V5
V0
V3
V6
V7
V4
V1
V0
V5
V2
V7

It can be seen from Fig. 3 that the error between the -1 V5 V6 V1 V2 V3 V4

estimated torque Te and the reference torque Te* is the Eϕ EC N

θS
ϕ +
input of a three level hysteresis comparator, where the error ref
Torque and Flux
- ϕS Estimation
between the estimated stator flux magnitude φS and the Tref +
reference stator flux magnitude φS* is the input of a two Tem

level hysteresis comparator.

Finally, the outputs of the comparators with a stator flux Fig. 3. Basic direct torque control scheme
sector, where the stator flux space vector is located, select
an appropriate inverter voltage vector from the switching band of hysteresis around zero to avoid useless com-
table (Table 1). The selected voltage vector will be applied mutations when the error of the stator flux is very small
to the induction motor at the end of the sample time [21]. [21].
With this type of hysteresis comparator, we can easily
Table 1. Switching table for conventional DTC control and maintain the end of the vector flux within a
circular ring.
Eϕ Ec S1 S2 S3 S4 S5 S6
The basic structure of the CDTC induction motor is
1 V2 V3 V4 V5 V6 V1
shown in Fig. 3.
1 0 V7 V0 V7 V0 V7 V0
-1 V6 V1 V2 V3 V4 V5
1 V3 V4 V5 V6 V1 V2
0 0 V0 V7 V0 V7 V0 V7 4. DTC Based On Fuzzy Logic Control
-1 V5 V6 V1 V2 V3 V4
The fuzzy approach is proposed to reduce the torque,
The vectors V1,…,V6 represent the six active vectors that flux and current ripples. The fuzzy logic controller has
can be generated by a voltage source inverter where V0 been introduced to replace the two hysteresis controllers
and V7 are the two zero voltage vectors. Fig. 2 gives the and the switching table. Fig. 4 illustrates the structure of
partition of the complex plan in six angular sectors Si=1…6. the fuzzy DTC of induction motor. The inputs of the fuzzy
When the stator flux is in zone i, the vector Vi+1 or Vi-1 is controller bloc are the torque error, flux error and stator
selected to increase the level of the flux, and Vi+2 or Vi-2 is flux angle. The voltage vector is the output.
selected to decrease it. At the same time, the vector Vi+1 or
Vi-2 is selected to increase the level of the electromagnetic 4.1 Fuzzy logic controller principle
torque, and Vi-1 or Vi-2 is selected to decrease it.
If V0 or V7 is selected, the rotation of the stator flux is In the fuzzy logic controller system, we can distinguish
stopped and the torque decreases, whereas the amplitude three main parts: fuzzification, fuzzy reasoning and
of the stator flux remains unchanged. This shows that the defuzzification [22]. The fuzzification is based on the
choice of the vector tension depends on the sign of the membership functions.
error of the stator flux and electromagnetic torque
independently from their amplitude [21]. This explains 4.2 Fuzzy variables
why the output of the hysteresis comparator of the stator
flux and torque must be a Boolean variable. We can add a The membership function of the stator flux error is given

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 Design and Implementation of Direct Torque Control Based on an Intelligent Technique of Induction Motor on FPGA

230/380v
1 V0 V1 V2 V3 V4 V5 V6
50 Hz

Ω
0 1 2 3 4 5 6

Fig. 7. Fuzzy membership functions of output

(Sa Sb Sc ) i sa b
The membership functions of the output space voltage
vectors are shown in Fig. 7.
eϕ eT θ S A system with three inputs, one having three fuzzy sets,
ϕ ref +
another having five fuzzy sets, and the other having twelve
Torque and Flux
Ω ref
- ϕS Estimation fuzzy sets, has a total of 3*5*12=180 different control rules
Tref
PI
-
shown in Table 2.
Tem

Table 2. Fuzzy control rule table

Fig. 4. Fuzzy direct torque control (DTCF) scheme
θS
θ1 θ2 θ3 θ4 θ5 θ6 θ7 θ8 θ9 θ10 θ11 θ12
by three linguistic terms: Negative (N), Zero (Z) and eϕ θT
Positive (P), as shown in Fig. 5(a). The error of the stator PL V1 V2 V2 V3 V3 V4 V4 V5 V5 V6 V6 V1
flux is given by the following equation: PS V2 V3 V3 V4 V4 V5 V5 V6 V6 V1 V1 V2
P Z V0 V7 V7 V0 V0 V7 V7 V0 V0 V7 V7 V0
NS V6 V1 V1 V2 V2 V3 V3 V4 V4 V5 V5 V6
Δϕ = ϕ S* _ ref − ϕ S (8) NL V6 V6 V1 V1 V2 V2 V3 V3 V4 V4 V5 V5
PL V2 V2 V3 V3 V4 V4 V5 V5 V6 V6 V1 V1
The membership function of the electromagnetic torque PS V2 V2 V3 V3 V4 V4 V5 V5 V6 V6 V1 V1
error is given by five linguistic terms: Negative Large (NL), Z Z V7 V0 V0 V7 V7 V0 V0 V7 V7 V0 V0 V7
Negative Small (NS), ZEro (ZE), Positive Small (PS) and NS V7 V0 V0 V7 V7 V0 V0 V7 V7 V0 V0 V7
NL V5 V6 V6 V1 V1 V2 V2 V3 V3 V4 V4 V5
Positive Large (PL) and shown in Fig. 5(b). The error of
PL V2 V2 V3 V3 V4 V4 V5 V5 V6 V6 V1 V2
the electromagnetic torque is given by the following PS V3 V3 V4 V4 V5 V6 V6 V6 V1 V1 V2 V2
equation: N Z V0 V7 V7 V0 V0 V7 V7 V0 V0 V7 V7 V0
NS V4 V5 V5 V6 V6 V1 V1 V2 V2 V3 V3 V4
*
ΔT = Tem _ ref − Tem (9) NL V5 V5 V6 V6 V2 V2 V1 V1 V3 V3 V4 V4

The membership function of the angle θ s is given by Each control rule can be described using the three input
twelve fuzzy sets: θ1 , θ 2 , θ3 , θ 4 , θ5 , θ 6 , θ 7 , θ8 , θ9 , θ10 , θ11 , variables: the stator flux error e f , the electromagnetic
and θ12 as shown in Fig. 6. torque error eT and the angle θ s and the output variable
V as:
μϕ μT
Ri: if (eφ is Xi) & (eT is Yi), then (V is Vi) (10)
P NL NS ZE NL PL
N 1 Z 1
where Xi, Yi and Zi are the fuzzy sets e f , eT and θ,
eϕ (ωb) eT ( Nm )
4.3 Fuzzy inferences
a2 0 a1 -1 c2 0 c1 1
(a) (b) In this work we use the inference method of Mamdani’s
which is based on the min-max decision.
Fig. 5. (a) Fuzzy membership functions of the flux error There are several methods of defuzzification, such as the
( eϕ ); (b) Fuzzy membership functions of the torque method of the center of gravity and the maximum method.
error ( eT ) In our case, we have used the latter method. Fig. 8 shows
the concrete reasoning of the fuzzy inference system.
μθ
θ1 1θ2 θ3 θ4 θ5 θ6 θ7 θ8 θ9 θ10 θ11 θ12 4.4 Design of membership functions using the xilinx
system generator

θ (rad) The fuzzy logic controller bloc propagates the inputs

π 3π 5π 7π 9π 11π 13π 15π 17π 19π 21π 23π (sator flux error e f , electromagnetic torque error eT , and
12 12 12 12 12 12 12 12 12 12 12 12 angle θ s ) to the output voltage vectors Vi. The structure of
Fig. 6. Stator flux position membership function the fuzzy logic controller bloc is shown in Fig. 9.

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 Saber Krim, Soufien Gdaim, Abdellatif Mtibaa and Mohamed Faouzi Mimouni

Rules ( R i )
Fuzzification R1: If ( ef is P) & ( eT is PL) & ( θ s is θ 1 )
(Membership then (V is V1)
Inputs Fonction)
⎧ eϕ
⎪ ⎧(N, Z, P)
⎨ eT ⎪
⎪θ ⎨(NL, NS, Z E, PS, PL)
⎩ S ⎪(θ ,......,θ )
⎩ 1 12 R42: If ( e f is N) & ( eT is NL) & ( θ s is θ12 )
then (V is V4)

Defuzzification
(Min-Max) Output Voltage

Fig. 8. Steps of the fuzzy logic system for the DTFC

technique
Fig. 11. Design of the membership function ZE of the
electromagnetic torque error using the XSG

Fig. 9. Fuzzy logic controller bloc from the Xilinx System

Generator

Fig. 12. Design of the membership function θ 4 of θ s

error using the XSG

sets; evenly, we have five mathematical functions, named:

NL, NS, ZE, PS and PL. The membership function of ZE
is given by Eq. 12 and illustrated using the XSG, as in
Fig. 10. Design of the membership function N of the stator Fig. 11.
flux error from the XSG
⎧ if eT > c1 then ZE (eT ) = 0
The stator flux error is given by three fuzzy sets; evenly, ⎪ if e < c 2 then ZE (e ) = 0
T T
we have three mathematical functions, named: P, Z and N. ⎪
⎪ −1
The membership function of N is given by Eq. 11 and ⎨ if eT < 0 then ZE (eT ) = eT + 1 (12)
illustrated using the XSG, as in Fig. 10. ⎪ c 2
⎪ −1
⎪⎩else ZE (eT ) = c1 eT + 1
⎧
⎪ if e > 0 then N (e ) = 0
⎪⎪ f f
The angle θ s is given by twelve fuzzy sets:
⎨ if en < a2 then N (e f ) = 1 (11)
⎪ 1
⎪ else N (e f ) = e f θ1 ,θ 2 ,θ3 ,θ 4 ,θ5 , θ 6 ,θ 7 ,θ8 ,θ 9 ,θ10 ,θ11 , and θ12 .
⎪⎩ a2
The membership function of θ 4 is given by Eq. 13 and
The electromagnetic torque error is given by five fuzzy illustrated using the XSG, as in Fig. 12.

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 Design and Implementation of Direct Torque Control Based on an Intelligent Technique of Induction Motor on FPGA

⎧ 3π which is based on the min-max decision. The output of

⎪ if θ S < 12 then θ 4 (θ S ) = 0 each fuzzy rule is given by the minimum function between
⎪ the three membership functions of the stator flux error
⎪ if θ S > 7π then θ 4 (θ S ) = 0 Δϕ , the electromagnetic torque error ΔTe , and the angle
⎪ 12
⎪ 5π −1 θ S . The design of rule number 26 using the XSG is given
⎨ if θ S < then θ 4 (θ S ) = θ +1 (13) by Fig. 13.
⎪ 12 3π S
R26: If ( e f is N) & ( eT is PL) & ( θ s is θ5 ), then (V
⎪ 12
⎪ is V1)
−1
⎪else θ 4 (θ S ) = 7π θ S + 1
⎪ 4.6 Rules interconnection
⎩ 12
To move from one rule to another, the OR operator is
4.5 Rules design used. This operator is presented by the Maximum function
and connects all rules. The output presents the maximum
In this work we use the inference method of Mamdani’s value between the inputs. The design of the Max block
for the rules with the output voltage vector Vi is given by
Fig. 14.

4.7 Control vector block

For each sampling period, three Boolean variables (Sa,

MINIMUN
Sb, Sc) are determined for each selected voltage vector Vi.
The control vector block is illustrated using the XSG, as in
Fig. 15.

5. Simulation Result and Discussion

Fig. 13. Design of the rule number 26 using the XSG The simulation of the CDTC and the DTFC of the

Vi

Fig. 14. Design of the maximum block connecting the V1 output rules

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 Saber Krim, Soufien Gdaim, Abdellatif Mtibaa and Mohamed Faouzi Mimouni

Vi

Sa

Sb

Sc

Fig.15. Calculation of sequences ( Sa , Sb , Sc ) using the voltage vector

160
160
140
140
120
120
rotor speed (rd/mn)
rotor speed (rd/s)

100
100
80
80
60
60

40 40

20 20

0 0
0 0.2 0.4 0.6 t(s) 0.8 1 0 0.2 0.4 0.6 t(s) 0.8 1

(a) (b)
Fig. 16. Evolution of the rotor speed: (a) CDTC; (b) DTFC

induction motor is achieved using the XSG. The flux Fig. 18. We can notice that the electromagnetic torque
reference is 0.91 (wb), and the system period is 50µs. The ripples is reduced in the case of the DTFC.
reference of the electromagnetic torque is the output of In Fig. 19, it can be seen that the stator current ripples is
the proportional integral controller of the rotor speed. reduced by using the FLC. In Fig. 20, we can notice that
The load torque is applied at the times t=0.3sec and the stator current distortion is reduced in the case of the
t= 0.6sec. For the two CDTC and DTFC techniques we DTFC.
obtain the evolution of the rotor speed, the stator flux, the From the simulation results we can have the Table 3 to
electromagnetic torque, the stator current module, and the compare the results observed in the case of the CDTC and
sinusoidal distribution of the stator current, which are the DTFC.
given by Fig. 16-19, and Fig. 20, respectively.
In Fig. 16, the rotor speed has quickly reached its Table 3. Advantages of DTFC in terms of ripples
reference value, 150 rd/s, which shows the high dynamics
of the DTC. CDTC DTFC
In Fig. 17, the stator flux has quickly attained its Max-Min % Max-Min %
Electromagnetic
reference value, 0.91 wb, which shows the high dynamics torque ripples
1 9.523 0.6 5.769
of the DTC. The stator flux in the case of the CDTC is Stator flux
0.03 3.333 0.02 2.197
characterized by high ripples, which has decreased by ripples
using the fuzzy logic. Stator current
0.5 10.526 0.25 5.882
distortions
The evolution of the electromagnetic torque is given by

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 Design and Implementation of Direct Torque Control Based on an Intelligent Technique of Induction Motor on FPGA

1 1

0.8 0.8
Stator flux (Wb)

Stator flux (wb)

0.6 0.6

0.4 0.4

0.2 0.2

0 0
0 0.2 0.4 t(s) 0.6 0.8 1 0 0.2 0.4 t(s) 0.6 0.8 1

0.93 0.93

0.92
0.92

0.91
0.91

0.9
0.9
0.89
0.89
0.88
0.88
0.87
0.87
0.4 0.45 0.5 0.55 0.6
0.4 0.45 0.5 0.55 0.6

(a) (b)
Fig. 17. Evolution of the stator flux: (a) CDTC; (b) DTFC

25 25
Electromagnetic torque (Nm)

20 20

15 15
Tem (Nm)

10 10

5 5

0 0

-5 -5
0 0.2 0.4 t(s) 0.6 0.8 1 0 0.2 0.4 0.6 t(s) 0.8 1

6 6

4 4

2 2

0 0

0.25 0.3 0.35 0.4 0.45 0.5 0.25 0.3 0.35 t(s)0.4 0.45 0.5

(a) (b)
Fig. 18. Evolution of the electromagnetic torque: (a) CDTC; (b) DTFC

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 Saber Krim, Soufien Gdaim, Abdellatif Mtibaa and Mohamed Faouzi Mimouni

25 25

20 20
Stator current (A)

Stator current (A)

15 15

10 10

5 5

0 0
0 0.2 0.4 t(s) 0.6 0.8 1 0 0.2 0.4 0.6 t(s) 0.8 1

5.5 5.5
5 5

4.5 4.5

4 4

3.5 3.5

3 3
2.5
2.5
2
2
1.5
1.5
0.6 0.65 0.7 0.75 0.4 0.45 0.5 0.55 0.6 0.65 0.7 0.75

(a) (b)
Fig. 19. Evolution of the stator current module: (a) CDTC; (b) DTFC

20 20

15 15

10 10
Stator current (A)
Stator current (A)

5 5

0 0

-5 -5

-10 -10

-15 -15

-20 -20
0 0.2 0.4 0.6 0.8 t(s) 1 0 0.2 0.4 0.6 t(s) 0.8 1

4 4
3 3
2 2
1 1
0 0
-1 -1
-2 -2
-3 -3
-4 -4

0.72 0.725 0.73 0.735 0.74 0.745 0.75 0.72 0.725 0.73 0.735 0.74 0.745 0.75
(a) (b)
Fig. 20. Evolution of the stator current: (a) CDTC; (b) DTFC

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 Design and Implementation of Direct Torque Control Based on an Intelligent Technique of Induction Motor on FPGA

Fig. 21. Synthesis result of the DTFC using the Xilinx ISE 12.4

6. DTFC Implementation on FPGA The performance of the hardware implementation on

FPGA in term of processing speed is shown in Table 5.
From the DTFC design, using the XSG, we can To control the industrial systems like the induction
automatically generate the VHSIC Hardware Description motor, two main families of digital devices such as the
Language (VHDL) code to be implemented into the FPGA. microcontroller, the Digital Signal Processor (DSP) and
The implementation results of the CDTC and the DTFC are the FPGAs. The first family is based on the microcontroller
given in Fig. 21 which shows the RTL (Register Transfer and the DSP controllers. These components integrate a
Level) schematic of the DTFC in the Xilinx ISE 12.4 and microprocessor and several peripherals used for the
given in the Table 4 that presents the used resources. communication with the industrial environment. The
general-purpose microcontrollers include a 16-bit or 32-
Table 4. Used resources bit Reduced Instruction Set Computer (RISC) core and
different peripherals, such as the STM microcontrollers
CDTC DTFC Available (STM32F3, STM32F4, STM32F1…) [23, 24]. The main
Number of bonded IOBs 68 68 640
limitation factor of the general purpose microcontroller is
Number of Slices Registers 259 866 44,800
Number of Slice LUT 1,987 4,655 44,800 the computing power. This limit allows fixing the sampling
Number of DSP48Es 6 12 128 period. The DSP controllers integrate a high performing
processor core based on a hardware accelerator computing
Table 5. FPGA performance in terms of computing time block and few peripherals. In the field of the control of
the induction motor, the digital signal processor dSPACE
Module Cycles Execution Time (µs) (dSPACE 1102(DSP TMS320), dSPACE 1103(DSP TMS
Concordia 6 0.06 320 F240), and dSPACE 1104 (DSP TMS320 F240)) is so
Stator Flux and Torque Estimator 15 0.15
Sector 32 0.32
much used, but the main limitations of this solution is the
Fuzzy logic control 20 0.2 low processing speed due to the sequential processing [25-
PI speed controller 16 0.16 27] compared to the FPGA. The programming language of
t DTFC = 0.06 + 0.15 + 0.32 these solutions is the ‘C’ code [28], but in most cases the
0.89 µs
+0.2 + 0.16 = 0.89μ s Matlab/Simulink is used to program these circuits [25, 32].

1536 │ J Electr Eng Technol.2015; 10(4): 1527-1539

 Saber Krim, Soufien Gdaim, Abdellatif Mtibaa and Mohamed Faouzi Mimouni
50µs
TADC Tex
(a)
T(k) T (k+1) T (k+2)
TADC Tex
(b)
T(k) T (k+1) T (k+2)
TADC Tex
(c)
T(k) T (k+1) T (k+2)
Fig. 22. Timing diagram for the implementation on: (a)
General-purpose microcontroller (STM 32F4…);
(b) Digital Signal Processor and Control Engin-
eering (dSPACE 1104); (c) Xilinx Virtex-V FPGA
with an xc5vfx70t-3ff1136 package
General-purpose microcontrollers are characterized by their
low price [29]. But are not recommended for the complex
algorithms due to its low processing speed relative to the
FPGA and dSPACE. In Table 4, it is clear that the used
resources are negligible relative to the available resources.
Therefore, in the industrialization phase we can choose an
FPGA with a few resources and a low price. In [30] The
FPGA is inexpensive relative to the dSPACE, and it can
execute in real time, with a very low execution time, a full
complex algorithm, this due to its processing parallelisms.
Therefore, the cost of the system based on the FPGA is
lower compared to that based on the dSPACE.
The performances of the hardware solution based on the
FPGA compared to software solutions (general-purpose
microcontroller (STM 32F4…), Digital Signal Processor
dSPACE 1104), is shown in Fig. 22.
The computing power of the dSPACE 1104 is greater
than that of the STM32 microcontroller due to their
adapted architecture. The papers [31-34] present the digital
control of the induction motor using the dSPACE 1104. In
these papers, the sampling time is 100µs, due to the
sequential processing of the dSPACE. In paper [25], the
execution time is of 300µs using the dSPACE 1102. Using
the FPGA, the execution time of the control algorithm of
the induction motor is ( ≈ 1 to 2µs). Therefore, the obtained
execution time using the FPGA is far lower compared to
the programmed solution. In this paper, the execution time
of the DTFC algorithm is of 0.89µs, using the Xilinx
Virtex-V FPGA with an xc5vfx70t-3ff1136 package.
7. Conclusion
In this paper, an intelligent technique based on the Fuzzy
Logic Control is used to improve of the performances of
the Conventional Direct Torque Control of the induction
motor. In the Direct Torque Fuzzy Control the switching
table, the sector block, and the hysteresis comparators of
the stator flux and electromagnetic torque are replaced by
the intelligent technique. The main improvements shown
are the reduction in the stator flux, the electromagnetic
torque ripples and the stator current distortions. Com-
paratively, the execution time is very weak.
This Direct Torque Control with the Fuzzy Logic Control
is designed to be implemented on the Field Programmable
Gate Array (Xilinx Virtex-V FPGA) using the Xilinx System
Generator, which presents an interesting approach. Its use
is very practical since the HDL knowledge is unnecessary
and so the implementation time is reduced. Thus, the
obtained design can be translated automatically into a
VHDL programming language and can be embedded into
the Xilinx Virtex-V FPGA application board.
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 Saber Krim, Soufien Gdaim, Abdellatif Mtibaa and Mohamed Faouzi Mimouni

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Saber Krim received the degree in
Electrical Engineering from National
School of Engineering of Monastir,
Tunisia in 2011. In 2013 he received
his M.S degree in electrical Engineer-
ing from Monastir University, Tunisia.
He is currently pursuing the Ph.D.
degree with University of Monastir,
Tunisia. His current research interests include rapid
prototyping and reconfigurable architecture for real-time
control applications of electrical system.
Mohamed Faouzi Mimouni received
his Mastery of Science and DEA from
ENSET, Tunisia in 1984 and 1986,
respectively. In 1997, he obtained his
Doctorate Degree in Electrical Engin-
eering from ENSET, Tunisia. He is
currently Full Professor of Electrical
Engineering with Electrical Depart-
ment at the National School of Engineering of Monastir.
His specific research interests are in the area Power
Electronics, Motor Drives, Solar and Wind Power generation.
Dr. Med Faouzi MIMOUNI has authored/coauthored over
100 papers in international journals and conferences. He
served on the technical program committees for several
international conferences.

Soufien Gdaim received the degree in

Electrical Engineering from National
School of Engineering of Sfax, Tunisia
in 1998. In 2007 he received his M.S
degree in electronic and real-time
informatic from Sousse University and
received his PhD degree in Electrical
Engineering in 2013 from ENIM,
Tunisia. His current research interests include rapid proto-
typing and reconfigurable architecture for real-time control
applications of electrical system.

Abdellatif Mtibaa is currently Pro-

fessor in Micro-Electronics and
Hardware Design with Electrical De-
partment at the National School of
Engineering of Monastir and Head of
Circuits Systems Reconfigurable ENIM-
Group at Electronic and microelec-
tronic Laboratory. He holds a Diploma
in Electrical Engineering in 1985 and received his Ph.D
degree in Electrical Engineering in 2000. His current
research interests include System on Programmable Chip,
high level synthesis, rapid prototyping and reconfigurable
architecture for real-time multimedia applications. Dr.
Abdellatif Mtibaa has authored/coauthored over 100 papers
in international journals and conferences. He served on the
technical program committees for several international
conferences. He also served as a co-organizer of several
international conferences.

http://www.jeet.or.kr │ 1539