2017 IEEE International WIE Conference on Electrical and Computer Engineering (WIECON-ECE)

18-19 December 2017, WIT, Dehradun, India 1

Parameter Sensitivity Analysis of DTC Scheme for

Dual Inverter fed Open-end Winding IM Drive with
Single DC Source
Nirsha K I and Rajeevan P P
Indian Institute of Space Science and Technology, Thiruvananthapuram, India 695547
Email: nirsha6@gmail.com, rajeevanpp@iist.ac.in

Abstract--Parameter sensitivity analysis of Direct Torque Control
(DTC) scheme for dual inverter fed open end winding induction
motor drive with single DC source is presented in this paper. The
effect of stator resistance variation on the voltage vector selection
in this DTC scheme is analysed using the voltage space structure
of a dual inverter configuration with single DC source.
Theoretical analysis is validated by simulation on a MATLAB-
Simulink platform. The results of the theoretical and simulation
analyses are experimentally verified on an induction motor with
open-end stator windings using TMS320F28335 digital signal
processor.
Index Terms—Direct Torque Control, Induction Motor Drive,
Dual Inverter, Sensitivity Analysis, Stator Resistance.
I. INTRODUCTION
DTC scheme for dual inverter fed induction motor drive with
open end stator windings with a single DC source is presented
in section-III. Analysis of the sensitivity of this scheme to
stator resistance variations with simulation results are given in
section- IV. Experimental results are given in section-V and
conclusions are given in section-VI.
II. THE SYSTEM DESCRIPTION
Fig.1 shows the schematic diagram of a dual inverter fed
open-end winding induction motor with a common DC source,
where Inv and Inv are conventional two-level three phase
voltage source inverters. The DTC scheme presented in this
paper prevents the circulation of common mode current
through windings that enable to use a common DC source for
feeding both the inverters. A conventional squirrel cage IM

D ual inverter fed induction motor drive with open end

stator windings is being considered for many applications
especially when the available DC voltage is limited. In this
can be easily transformed into an open-end winding IM by
opening the neutral point.

scheme the induction motor is fed by two two-level voltage

source inverters from both sides of the stator windings with
half the DC link voltage compared to the DC voltage
requirement of a conventional neutral point clamped three-
level inverter [1]. By employing some special switching
schemes it is possible to feed both inverters from a common
DC source without circulation of common mode currents
through the windings and inverters [2],[3].
Among the various speed control techniques of IM drives,
direct torque control (DTC) is a simple scheme that provides Fig. 1. Dual inverter fed open-end winding induction motor with common DC
fast dynamic response. It is free from complex coordinate link.
transformations required in field oriented control of induction
motors [4], [5]. DTC scheme directly controls the stator flux 𝑉 , 𝑉 and 𝑉 are the pole voltages of Inv and 𝑉 , 𝑉
and torque by switching proper stator voltage space vector and 𝑉 are the pole voltages of Inv in A, B and C-phases
from the look up table based on the error signals of stator flux respectively. Fig. 2(a) and 2(b) show the voltage space vector
and torque. A limitation of the DTC scheme is that, it requires diagram of inverters, Inv and Inv respectively.
accurate knowledge of stator flux position and magnitude. The
stator flux is estimated from stator voltage model, using DC
link voltage, measured currents and stator resistance. So the
DTC scheme is sensitive to variation in stator resistance [6]-
[10].
This paper presents a parameter sensitivity analysis of the
direct torque control scheme of induction motor drive with
open-end stator winding that eliminates common mode current
circulation thereby enabling both inverters to derive power Fig. 2. Voltage space vector structures of two-level inverters:(a) Inv . (b)
from a common DC source. This paper is organised as Inv .
follows. System description is given in section II. Theory of

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2017 IEEE International WIE Conference on Electrical and Computer Engineering (WIECON-ECE)
18-19 December 2017, WIT, Dehradun, India 2

Since the two two-level inverters are acting independently, 𝑉 =𝑉 −𝑉 (7)

total of 64 switching combinations are possible which results
in a voltage space vector structure as shown in Fig.3, across Some of the space vector combinations of 𝐼𝑛𝑣 and 𝐼𝑛𝑣
the motor windings. For example, the voltage space vector 1- among all possible switching combinations do not produce
4 indicates that switching state of ‘Inv1’ is (+ - -) and that of any net common-mode voltage across the motor windings.
‘Inv2’ is (- + +). An inverter switching state of (+ - -) Such switching states are listed in Table-I.
indicates that upper switch of phase A is “ON” and lower
switches of phase B and C are “ON”. If the upper switch is TABLE I
Common mode voltage of Inv andInv
“ON” then the pole voltage level is and ‘0’ when the lower
switch is “ON”with reference to the negative rail of DC-link. Vector Space CMV of CMV of CMV across
Vector Inv Inv Motor
Combination Winding
1-5 V V 0
V 6 6
2-4 V V 0
3 3
3-5 V V 0
V 6 6
2-6 V V 0
3 3
3-1 V V 0
V 6 6
4-6 V V 0
3 3
5-1 V V 0
V 6 6
4-2 V V 0
3 3
5-3 V V 0
V 6 6
6-2 V V 0
Fig.3. Voltage space vector diagram of a dual inverter fed IM drive. 3 3
1-3 V V 0
V 6 6
The voltages across the motor stator windings for the 6-4 V V 0
switching combination 1- 4 are given as; 3 3
1-1 , 3-3 , 5- V V 0
5 6 6
𝑉 = 𝑉 −𝑉 = −0= (1) Zero 2-2 , 4-4 , 6- V V 0
Vectors 6
𝑉 = 𝑉 −𝑉 =0− = (2) 3 3
V 0-0 0 0 0
𝑉 = 𝑉 −𝑉 = 0− = (3) 7-7 V V 0
2 2
For the switching combination 1- 4 the resultant voltage
space vector is,
III. DTC SCHEME FOR DUAL INVERTER FED IM DRIVE WITH
SINGLE DC SOURCE
𝑉 = 𝑉 𝑒 +𝑉 𝑒 +𝑉 𝑒 =𝑉 (4)
The basic principle of direct torque control (DTC) scheme
is the direct control of stator flux and torque by selecting the
The maximum value of the voltage space vector in the stator
stator voltage vector based on the error between reference
winding is 𝑉 with a DC link voltage of
values and actual values of flux and torque [11], [12]. The
0.5 𝑉 .Common mode voltage generated by ‘Inv1’ is given expression for torque developed in an induction motor as a
by: function of stator and rotor fluxes is given as;

𝑉 = (5) 𝑇 = K|ψ ||ψ ||sin (γ) (8)

Common mode voltage generated by ‘Inv2’ is given by:
𝑉 =
Common mode voltage generated across the motor phase
winding by a dual inverter fed open-end winding IM drive is
given by:
Where γ (torque angle) is the angle between stator flux (ψ )
and rotor flux (ψ ). If the magnitudes of rotor flux and stator
(6) flux remains constant then 𝑇 can be controlled by changing
’γ’. If the stator resistance drop is neglected, ψ can be
expressed in terms of V as;
∆ψ = V ∆t (9)

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2017 IEEE International WIE Conference on Electrical and Computer Engineering (WIECON-ECE)
18-19 December 2017, WIT, Dehradun, India 3

The direction of stator flux ψ can be controlled by controlling switching (𝑖 + 1) and (𝑖 + 2) vectors and decreased by
the stator voltage vector V . Due to the large rotor time switching (𝑖 − 1) and (𝑖 − 2) vectors.
constant the changes in V have less impact on ψ for a short
time interval ∆t. So the angle ’γ’ between stator flux and rotor
flux, can be controlled by changing the stator flux direction.
Hence proper selection of stator voltage V can control the
stator flux (ψ ) and the torque (Te).
Fig.4. shows voltage space structure for the switching
sequence used in the DTC scheme for the topology shown in
Fig.1. The sectors of the voltage space vector diagram are
defined with respect to α - axis as shown in Fig.4. Each sector
is angle wide and the region of each sector, θ (N) is given
by:
(𝑁 − 1) ≤ 𝜃(𝑁) ≤ 𝑁 (10)

Where N is the sector number. If the stator flux vector is in

the sector-1 then the voltage vector 𝑉 of Inv and 𝑉 of Inv
will be selected for increasing the stator flux magnitude and
torque angle. The voltage space vectors 𝑉 of Inv and 𝑉 of
Inv will decrease flux magnitude and increase torque angle.
The switching of the voltage space vectors 𝑉 of Inv and 𝑉
of Inv will cause increase in flux magnitude and decrease in
torque angle. Similarly selection of 𝑉 of Inv and 𝑉 of Inv
will decrease both flux magnitude and torque angle. The
Fig. 4.Voltage space vectors used in the DTC scheme. Voltage space
switching logic for entire sector can be summarized as
vectors V0 to V7 pertains to Inv and V0’ to V7’ pertains to Inv .
follows; if the stator flux vector in 𝑖 sector, the flux can be
Voltage vectors VI to VVII are the resultant vectors appearing across
increased by switching (𝑖 + 1) and (𝑖 − 1) vectors,
the stator windings.
whereas it can be decreased by switching (𝑖 + 2) and
(𝑖 − 2) vectors. Similarly torque can be increased by

Fig. 5. Block diagram of the DTC scheme for dual inverter fed IM drive with open end stator windings having single DC source.

Fig.5 shows the block diagram of the DTC scheme for dual
inverter fed IM drive with open end stator windings having
single DC source. The electromagnetic torque is controlled by
a three-level hysteresis comparator where the error between
the reference values and actual values of electromagnetic
torque is given to the comparator. Error between reference
speed and actual speed is fed to a PI controller that will give
the reference torque as the output. The torque comparator
output (𝑋 ) has 3 states (+1, 0, −1) where +1 indicates
increase in the torque is required, 0 indicates no change in the
torque is required and -1 indicates that torque has to be
decreased. Similarly the stator flux is controlled by a two-level
hysteresis comparator which produce an output (𝑋 ) of +1 and
-1 based on the increase and decrease of flux respectively.
IV. SENSITIVITY ANALYSIS FOR STATOR RESISTANCE
VARIATION
In the DTC scheme stator flux (𝜓 ) is estimated by using the
equation;
𝜓 = ∫(𝑉 − 𝑖 𝑅 )𝑑𝑡 (11)

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2017 IEEE International WIE Conference on Electrical and Computer Engineering (WIECON-ECE)
18-19 December 2017, WIT, Dehradun, India
Where 𝑅 is the stator resistance, 𝑉 and 𝑖 are the stator
voltage and stator current space vectors respectively. In real
systems, the stator resistance varies with temperature and
stator frequency. This causes a mismatch between the actual
stator resistance value (𝑅 ) and the original stator resistance
value (𝑅 ∗ ), which will further introduce an error (Δ𝜓 ) in the
flux estimation as given by the equation (12).
𝛥𝜓 = 𝜓 − 𝜓 (12)
Where 𝜓 is the flux estimated by the controller and 𝜓 is
the actual flux in the motor.
𝜓 = ∫(𝑉 − (𝑖 + 𝛥𝑖 )𝑅 ) 𝑑𝑡 (13)
Fig.6. Stator flux trajectories for estimated flux and actual flux:(a) at 50 rpm, (b) at 100 rpm, (c) at 200 rpm, (d) at 500 rpm
The simulations results for change in flux with the change in
stator resistance at different speeds are shown in Fig. 6. From
Fig.6 it can be inferred that at high speeds the stator resistance
variation will not affect the flux calculation, since the stator
resistance voltage drop is negligible. But in low speed the
effect of stator resistance is significant, which leads to
increased error in the flux and torque calculations. These
errors will in turn lead to improper selection of the voltage
vectors.
In the case of a mismatch between the actual and the
original values of the stator resistance, the actual value might
be above or below the original value. Accordingly there are
two cases (ΔR < 0 and ΔR > 0 ) to be considered in the
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Where 𝛥𝑖 is the change in stator current due to variation in
stator resistance.
𝜓 = ∫(𝑉 − (𝑖 + 𝛥𝑖 )(𝑅 + 𝛥𝑅 )) 𝑑𝑡 (14)
Where the stator resistance error,𝛥𝑅 = 𝑅 ∗ − 𝑅 .Substituting
equations (13) and (14) in (12);
𝛥𝜓 = ∫(𝛥𝑖 𝛥𝑅 + 𝑖 𝛥𝑅 )𝑑𝑡 (15)
parameter sensitivity analysis of DTC scheme for dual inverter
fed IM drives with single DC source as follows.
A. Case-1: 𝛥𝑅 < 0
The worst working condition will occur when the estimated
flux vector (𝜓 ) is in sector ’i’ and actual flux vector (𝜓 ) is
in sector ‘(i+1)’ as shown in Fig.7. When the stator flux is
rotating in the anticlockwise direction and the estimated stator
flux is in 𝑖 sector, the stator flux can be increased by
switching to (𝑖 + 1) voltage vector and to reduce stator flux
(𝑖 + 2) voltage vector has to be switched. In both the cases
the magnitude of the actual flux is increased as seen in Fig.7.
However the switching of the zero voltage vector reduces the
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2017 IEEE International WIE Conference on Electrical and Computer Engineering (WIECON-ECE)
18-19 December 2017, WIT, Dehradun, India 5

stator flux magnitude in this case. So the stator flux magnitude voltage across the motor windings is negligible which
can be controlled by switching of the zero voltage vector facilitates use of common DC source for feeding power to
which leads to stable operation of the drive. both inverters.

Fig. 7. Sector error when 𝛥𝑅 < 0

Fig. 9. Experimental results: Stator current and voltage at 1200 rpm.
B. Case-2: 𝛥𝑅 > 0 Upper trace: Sectors (1-6) through which the flux vector moves.
This analysis pertains to the situation where the estimated flux Middle trace:. Voltage across Phase - A winding (Y axis –
is in 𝑖 sector and actual flux sector is in the(𝑖 − 1) sector 100V/div.). Bottom trace: Phase A current (Y axis – 1.64A/div), (X
as shown in Fig.8. Similar to case-1, the stator flux can be axis – 24ms/div.)
increased by switching to (𝑖 + 1) voltage vector and the
stator flux can be decreased by switching (𝑖 + 2) voltage
vector. But in this situation, both vectors reduce the magnitude
of the actual flux vector as seen in Fig.8. The switching of the
zero voltage vector also reduces the stator flux magnitude.
Thus in the case of 𝛥𝑅 > 0 the operation of the drive
becomes unstable, because of the insufficient magnetization.
.

Fig. 10. Experimental results: 1.Voltage across Phase-A winding.

2.Voltage across Phase-B winding, 3. Voltage across Phase-C
winding (Y-axis 100V/div),. 4. Common mode voltage across the
motor winding (Y-axis 20V/div), (X-axis .02s/div).

Fig. 8. Sector error when 𝛥𝑅 > 0

V. EXPERIMENTAL RESULTS
The conclusions of the sensitivity analysis were
experimentally verified on a dual inverter fed open-end
winding induction motor drive, rated 1.1 KW, 415V, 50 Hz,
1415 RPM, operated with the DTC scheme explained in the
previous sections. The control scheme was implemented on a
TMS320F28335 DSP platform. Stator currents were sensed
using Hall Effect sensors. Fig.9 shows the voltages across the
motor winding in phase-A and the current in the same phase
along with the sectors in which stator flux space vector lies,
during steady state operation. Motor winding voltages in all
the phases and the common mode voltage in stator windings
are shown in Fig.10. It can be seen that the common mode
Fig. 11.Effect of stator resistance variation at 600 RPM. Upper trace:
Sectors (1-6) through which the flux vector moves. Lower trace:
Stator resistance variation from 9Ω to 15Ω, (X-axis 104ms/div)
Validation of sensitivity analysis is carried out under
different operating conditions for the same variation in stator
resistance. The experimental results for operation of the motor
at 600 RPM, 100 RPM and 60 RPM are given in Fig. 11, Fig.
12 and Fig.13 respectively when the value of stator resistance

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2017 IEEE International WIE Conference on Electrical and Computer Engineering (WIECON-ECE)
18-19 December 2017, WIT, Dehradun, India
used for estimation of stator flux is varied from 9Ω to 15Ω
manually. Fig. 11 shows that the variation in stator resistance
value has almost negligible effect on motor performance at
600 RPM as evident from the proper movement of stator flux
vector through sectors 1 to 6, sectors being identified from the
stator flux angle. At 100 RPM the drive exhibits tendency of
unstable operation when the stator resistance value is changed
as indicated by the improper sector changes. At 60 RPM the
operation of the drive becomes completely unstable for the
same variation in the value of stator resistance. Thus the
experimental results show that the stator resistance variation
has significant effect at low speeds leading to unstable
operation of the dual inverter fed, open end winding IM drive
operated with DTC scheme explained in the previous sections.
The experimental results thus validate the sensitivity analysis
presented in this paper. A photograph of the experimental set-
up is given in Fig.14. Experimental set-up consists of an
induction motor with open-end stator windings fed by two
inverters (Inverter-1 and Inverter-2). A digital signal processor
(TI DSP: TMS320F28335) is used for implementing the
control scheme. Hall effect sensors are used for sensing
voltages and currents.
Fig. 12.Effect of stator resistance variation at 100 RPM. Upper trace:
Sectors (1-6) through which the flux vector moves. Lower trace:
Stator resistance variation from 9Ω to 15Ω. (X-axis 320ms/div).
Fig. 13. Effect of stator resistance variation at 60 RPM: Upper trace:
Sectors (1-6) through which the flux vector moves. Lower trace:
Stator resistance variation from 9Ω to 15Ω.(X-axis 500ms/div).
VI. CONCLUSION
Sensitivity analysis for stator resistance variation in direct
torque control scheme of dual inverter fed induction motor
drive with open end stator windings powered from a common
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DC source is presented in this paper. Stator resistance
variations will introduce error in stator flux calculation at low
speeds, which leads to selection of incorrect voltage vectors
especially at the instant of transition from one sector to the
next sector, leading to the unstable operation of the drive. This
analysis is corroborated by simulation results and validated by
the experiments conducted at different speeds under stator
resistance variation.
Fig. 14. Photograph of the experimental set-up.
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