Advanced 

Power Conversion & Control 2014‐2015 Advanced Power Conversion & Control 2014‐2015

Direct Torque Control: Introduction
Advanced Power Conversion and 
Control
• Classical DTC has several disadvantages from which variable
switching frequency is the most important.
INDUCTION MOTOR DRIVES (6) • New method called Direct Torque Control‐Space Vector
Modulated (DTC‐SVM) operates with constant switching
frequency and therefore overcomes those problems.

Direct Torque Control: Introduction Direct Torque Control: Introduction

• Direct Torque Control (DTC) was introduced in the mid‐80s • What is DTC?
and has become an alternative to Vector Control or Field  In DTC, the control of torque and speed are directly based
Oriented Control (FOC). on the electromagnetic state of the motor, similar to a DC
• The decoupling strategy in FOC has been replaced by motor, whereas traditional PWM drives use input
coordinate transformation, like in FOC, by hysteresis frequency and voltage.
controllers (on‐off controllers) of the inverter. This method is • What are the advantages of DTC?
referred to as classical DTC.  Because torque and flux are motor parameters that are
being directly controlled, there is no need for a modulator,
as used in PWM drives, to control the frequency and
voltage.
 DTC also provides precise torque control without the need
for a feedback device.
 DTC give a faster torque response.

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Direct Torque Control: Introduction Basic Principle of DTC

 Accurate torque control at low frequencies (beneficial to • The 2‐phase dynamic model of the IM in the stationary dsqs
cranes or elevators, where the load needs to be started and frame was obtained as:
stopped regularly without any jerking).
v ssdq  Rs i ssdq  d sdq
s
/ dt
 Torque linearity: Important in applications requiring high
precision (winders, paper industry, etc.). v srdq  Rri srdq  d rdq
s
/ dt  jr rdq
s

 Dynamic speed accuracy without tachometer: After a sudden

load change, the motor can recover speed remarkably fast. sdq
s
 Ls i ssdq  Lmi ssdq
• What is the difference between DTC and Frequency Control s
rdq  Lmi ssdq  Lri ssdq
PWM and Vector Control PWM?
 Traditional PWM drives use output voltage and output • We need to obtain the equations for the stator flux and
frequency as the primary control variables but these need torque.
to be pulse width modulated before being applied to the
motor.

Direct Torque Control: Introduction Basic Principle of DTC

 This modulator stage adds to the signal processing time • Stator flux
and therefore limits the level of torque and speed  The IM stator voltage is given by:
response possible from the PWM drive. s
d sdq
 Typically, a PWM modulator takes 10 times longer than v ssdq  Rs i ssdq 
DTC to respond to actual change. dt
 Neglecting the voltage drop across , the change in
 DTC uses torque and stator flux as primary control stator flux is obtained from the stator voltage:
variables, both of which are obtained directly from the s
motor itself. d sdq s
v ssdq  or sdq  v ssdq t
 Therefore, with DTC, there is no need for a separate dt
voltage and frequency controlled PWM modulator.  The stator flux depends directly on the stator voltage.
Therefore, stator flux vector (magnitude and phase) can
 Another big advantage of a DTC drive is that no feedback be controlled by selecting appropriate stator voltage
device is needed for 95% of all drive applications. vectors.

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Basic Principle of DTC Basic Principle of DTC

[010]V3 [110]V2
• Torque • Illustration
 The developed torque is given by:  At time t [011]V4 [100]V1
3 P Lm   The initial stator and rotor flux are
Te  ψ s  ψ r   and  . [001]V5 [101]V6
2 2 Ls Lr
The VSI switches to state [100] qs
3 P Lm  
Te  ψ s ψ r sin   and stator voltage is generated.
 s  V1  t
2 2 Ls Lr 
 At t = t + t ψ s (t )
The stator flux vector will change in:  
Where  is the angle between the stator and rotor  s (t   t )
flux vectors.  Magnitude: increased by  1

 It can be noticed that the torque depends on the  Position: reduced by 
ds
stator and rotor flux magnitude as well as on the angle  The new stator flux vector is   . 
ψr

Basic Principle of DTC Rules for Flux Control

• Nota: • To increase flux magnitude:

 In the IM, the rotor flux changes due to changes in stator  Select non‐zero voltage
[010]V3 [110]V2
voltage are slower than those of stator flux, the rotor flux vectors with misalignment
qs
 can be assumed to remain constant during the stator with  not exceeding
[011]V4 [100]V1
voltage changes occurring within a short time  . 900.
 In summary, the basic idea behind DTC is to control the • To decrease flux magnitude:  [001]V5 [101]V6
ψ s (t )
magnitude of stator flux and torque directly by the stator  Select non‐zero voltage
voltage i.e. by appropriate selection of the space vectors vectors with misalignment

of the voltage source inverter (VSI). with  exceeding 900
[010]V3 [110]V2 ds
• Zero states ( or ) do not 
ψr
[011]V4 [100]V1 affect  .

[001]V5 [101]V6

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Rules for Flux Control Rules for Torque Control


• Example: For the stator flux vector lying in sector 1: • There are 3 possible situations:  s (t   t )
 To increase its magnitude, 1 , 2 , 6 can be selected.  The developed torque is small:
 To decrease its magnitude, 3 , 4 , 5 can be selected.  Δ is in advance of 
 . ψ s (t )
qs qs V3 V2
V3 V2 
 s (t   t )
V4 V1 V4 V1  The developed torque is

  enough:  Δ  . ψ s (t )
ψ s (t ) ψ s (t )
V6 V5 V6
V5

   The developed torque is too 

ψ s (t )
ds ds big:  Δ is behind

ψr

ψr  . 
 s (t   t )

Rules for Torque Control Rules for Torque Control

• To increase the torque: • The dsqs is divided into 6 sectors (S1 to S6) of 600.
 Select non‐zero voltage vectors • If  is in sector Sk S3
qs
S2
[010]V3 [110]V2
which accelerate  .  increases  [110] V2 
qs [010] V3 ψ s (t )
• To decrease the torque: [011]V4 [100]V1  decreases 
 Select non‐zero voltage vectors

which decelerate  . ψ s (t ) [001]V5 [101]V6
• Example: [011] V4 [100] V1
ds
S4 S1
• To maintain the torque:  is in sector S2
 Select zero states ( or )   increases 
which cause  to stop
moving. 
ds  decreases  [001] V5 [101] V6
ψr [000] V0 = 0
S5 S6 [111] V7 = 0

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Rules for Flux and Torque Control Implementation of DTC

• Stator flux vector  is associated with a voltage vector 3. Flux vector  and torque are calculated in the
when it passes through sector S . Torque and Flux Calculator using the following
• Below are summarised the impact of individual voltage equations:

 v 
vectors on  and .
ψ ssd  s
sd  Rs i ssd dt (3)

  v dt
Vk Vk+1 Vk+2 Vk+3 Vk+4 Vk+5 Vz (V0 or V7)
       ‐ ψ ssq s
sq  Rs i ssq (4)
?   ?   
 2 2
ψ s  ψ ssd  ψ ssq (5)
• The impact of and on is ambiguous, it depends on

•
whether  is leading or lagging the voltage vector.
Zero vectors (i.e. or ) do not affect  but reduces .
Te 
3P s s
2 2

isq ψ sd  isd
s
ψ ssq  (6)

Implementation of DTC Implementation of DTC

1. DC voltage and three phase stator currents iabcs are 4. Estimated stator flux magnitude  is compared with
measured. reference ∗ .
2. vsdqs and current isdqs are determined in Voltage and 5. Estimated is compared with ∗ .
Current Vector Synthesizer by the following equations:
6. The flux and torque errors,  and  are fed to
2
3

v ssdq  Vdc S a  aSb  a 2 S c  vsd
s s

 jv sq (1) their respective hysteresis controllers, with
characteristics shown below. hT
i sdq  Tabci abcs
s (2) h 1
1
Where Sa, Sb and Sc are the switching variables of VSI
and 0 
HT
1 0 0 
Tabc 
0 1 / 3  1 / 3  0
 ‐1
H

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Implementation of DTC Implementation of DTC

 Stator flux hysteresis controller • CW rotation: (T1)

h   1 for   H  h 1 0
h   0 for    H  hT 1 0 ‐1 1 0 ‐1
S1 V6 V7 V2 V5 V0 V3 [010]V3 [110]V2
 Torque hysteresis controller S2 V5 V0 V1 V4 V7 V2
[011]V4 [100]V1
S3 V4 V7 V6 V3 V0 V1
hT  1 for Te  H T
S4 V3 V0 V5 V2 V7 V6 [001]V5 [101]V6
hT  0 for Te  0 S5 V2 V7 V4 V1 V0 V5
hT  1 for Te   H T S6 V1 V0 V3 V6 V7 V4

• To minimize number of switching: 0 always follows

, and and always follows , and .

Implementation of DTC Implementation of DTC

7. Selection of voltage vector (inverter state) is based on: • CCW rotation: (T2)
 Values of  and (output of the flux and torque h 1 0
hysteresis controllers).
hT 1 0 ‐1 1 0 ‐1
 Angle of the flux vector  s
S1 V2 V7 V6 V3 V0 V5 [010]V3 [110]V2
  ψs 
 s  ψ s  tan 1  ssq 

(7) S2 V3 V0 V1 V4 V7 V6
[011]V4 [100]V1
 ψ sd  S3 V4 V7 V2 V5 V0 V1
 Direction of motor rotation (CW or CCW). S4 V5 V0 V3 V6 V7 V2 [001]V5 [101]V6
Voltage vectors for the CW and CCW operation of the IM S5 V6 V7 V4 V1 V0 V3
are given below. S6 V1 V0 V5 V2 V7 V4
The selected vectors are then applied in the state selector • To minimize number of switching:  V0 always follows V1, V3
block. and V5 and V7 always follows V2, V4 and V6

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Implementation of DTC Applet on Space Vector

[010]V3 [110]V
2
• Example: qs • Space Vectors
[011]V4
 is in sector S2 (assuming CCW

rotation). ψ s (t ) [001]V5 [101]V6

 Both flux and torque have to be

increased (  = 1 and = 1) 
 Apply 3 (state [010]) 
ψr ds
 Flux decreased and torque increased
h 1 0
(  = 0 and = 1)  Apply (state [011]). hT 1 0 ‐1 1 0 ‐1
S1 V2 V7 V6 V3 V0 V5
S2 V3 V0 V1 V4 V7 V6
h 1 0
S3 V4 V7 V2 V5 V0 V1
hT 1 0 ‐1 1 0 ‐1 S4 V5 V0 V3 V6 V7 V2
S2 V3 V0 V1 V4 V7 V6 S5 V6 V7 V4 V1 V0 V3
S6 V1 V0 V5 V2 V7 V4

Implementation of DTC Applet on Space Vector DTC

• DTC

Vdc
ψ *s ψ s hψ Eq. (1) & (2)
S a Sb Sc
ψs
Eq. (5) 
s  s
s
| s | v sdq
s
s isdq
ψ ds
s
Eq. (7)  ψ qs Eq. (3), (4) & 
Te* Te hT (6)

Te (T1) & (T2)

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Applet on Space Vector DTC

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