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Design and Simulation of H-Bridge Fed Direct Torque Controlled Electric

Traction Drive

Conference Paper · December 2014

DOI: 10.1109/IICPE.2014.7115845

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 Design and Simulation of H-Bridge Fed
Direct Torque Controlled Electric Traction Drive
Priya Mahajan1, Rachana Garg2
1, 2
Delhi Technological University (DTU)
Delhi, India
priyamahajan.eed@gmail.com, rachana16100@yahoo.co.in
Abstract— This paper presents the performance of electric
traction motor drive consisting of an AC-DC converter fed vector
controlled induction motor drive. The variable frequency
induction motor drives used in AC traction system consist of
uncontrolled ac-dc converters and voltage source inverters
feeding the induction motor. Such converters induce power
quality issues in the distribution system such as injecting
harmonics which leads to voltage fluctuation, reactive power and
low power factor issues. The converter topology discussed in this
paper provides the constant dc link, keeps the input power factor
close to unity and also reduces the THD of AC mains current.
Direct torque control method is used to control H-bridge fed
traction motor drive. Modelling and simulated results are
presented to demonstrate the features of electric traction drive.
The necessary modelling and simulations are done in MATLAB
Simulink.
Keywords-Vector Control, Direct Torque Control, Induction
Motor, MATLAB Simulation
I. INTRODUCTION
The railway as a means of transport is a very old idea.
From the early invention of steam engines to modern electric
locomotives, railway transport systems had a long history and
huge developments to become one of the most popular modes
of public transport over the last century [1].To provide power
propulsion and the need of higher-speed, more luxurious and
more reliable services, electrification has been the first choice
and is widely applied to modernize most of the railway
transport systems across the world for several decades.
Earlier DC motor drives were used by Indian railways
which were fed by 25kV single phase AC supply rectified by
converters. The uncontrolled converters produce harmonics
which decrease system efficiency and causes ac mains voltage
distortion leading to failure of motors. All these effects impair
the power quality. Also regeneration could not be obtained
from uncontrolled rectifier because they did not work in four
quadrants. This further reduces the efficiency of drive. With
the advancements in power electronics, it is made possible to
replace dc motor with variable frequency induction motor
drive [2]. The field oriented control techniques of induction
motor drive combines the features of flexibility of dc motor
and ac induction motor which is robust and free from regular
maintenance[3]. To improve the distortion of the input line
current various converters have been reported which are
978-1-4799-6046-0/14/$31.00 ©2014 IEEE
Nikita Gupta3, Parmod Kumar4
DTU3, MAIT4
Delhi, India
guptanikita08@gmail.com, pramodk2003@yahoo.co.in
capable of harmonic control and reactive power compensation
for electric traction system [4-6].
Fig.1 shows the block diagram of three-phase induction
motor drive. The traction system comprises of main
transformer, converter/ inverter box and traction motor. The
traction system is described as a ‘three-phase drive’ with V/F
control. The converter carries out the constant DC output
voltage control and AC- side power factor control. The V/F
inverter output voltage waveform is PWM type using IGBTs.
The converter inverter system converts single-phase AC
voltage to the three-phase AC voltage which is necessary to
drive the three-phase induction motor. The designing of
converter and inverter are very crucial for railway traction as
electric locomotive have regeneration capabilities.
Power Line (25kV)
Converter Inverter
Loco AC
DC-Bus
Transformer Motor
3Φ-AC
Control
Loops
Fig.1 Block Diagram of AC-DC-AC traction system for AC motor drive
In the present work, an H-bridge converter configuration and
direct torque control technique for speed control of traction
motor drive used in Indian railways is simulated first time in
literature. MATLAB/SIMULINK is used for simulation
platform. The modeled system improves the power factor
close to unity and the THD of ac mains current is also within
IEEE standard 519 limits [7].
Fig.2 shows the block diagram of the traction motor drive
suitable for electric traction. Overhead line is provided with
tapings at equal distances. Through pantograph 25kV single-
phase supply is tapped. A three winding transformer with two
secondary windings is connected to supply. This transformer
step down the 25kV supply and provide 975 V supply to the
secondary side. Further two separate converters are connected
to the secondary windings which maintain a constant dc link
and mitigate the harmonics created in supply side. H-Bridge
configuration of converter is used which consist of IGBT for
bidirectional flow of power. Regarding converter feedback
control loop, DC-link voltage is sensed and a comparison is
done between sensed voltage and reference voltage.
Comparison leads to development of a voltage error signal
which is then fed to PI controller which generates the
reference current. This reference current is then compared
with sensed ac mains current. This comparison generates a
current error which is then fed to PWM signal generator which
generates gating signal for the converter. DC-link generated
serves as input for inverter which uses direct torque control
scheme for further connected induction motor speed control.
Two induction motors are connected to a single
inverter.
magnitude and phase of the AC quantities and are, therefore,
also referred to as vector controllers [9-10]. FOC produces
controlled results that have a better dynamic response to torque
variations in a wider speed range as compared to other scalar
methods. Also, FOC control can induce a high torque at zero
speed [2]. A block diagram of field oriented controlled
induction motor drive is shown in fig. 3. The induction motor
is fed by a current- regulator. The motor drives a mechanical
load characterized by inertia J, friction coefficient B, and load
torque, T [10]. The speed control loop uses a proportional-
integral controller to produce the quadrature axis current
reference iq* which controls the motor torque. The motor flux
is controlled by the direct-axis current reference id*. Block d-q
to abc is used to convert id* and iq* into current references ia*,
ib*, and ic* for the current regulator.
ia
Inductio
Vd Inverter Ib
n Motor
Ic
Ia* Ib* Ic*

PWM Current Speed

Controller Sensor

Vd Ids*
ІΨeІ Calculation Ids
* abc
Iqs*
AC dq
Traction
Motors ІΨeІ
Iqs* Theta
Calculatio Calculation
Vd
Te* Flux
Model
abc
DC-Link dq
Transform Converters Converters
PI
er
controlle
r W

Fig.2 Block diagram of electric traction motor drive system configuration W

Fig.3 Block diagram of field oriented control of induction machine

II. CONTROL TECHNIQUES FOR TRACTION MOTOR DRIVE
The induction motor drives play an important role in
modern electric traction system. This is due to their inherent
advantages such as low inrush current, fast dynamic response,
robust motor, ease of control etc. Techniques generally used in
variable frequency induction motor drives for control of
voltage source inverter fed induction motor drive can be
broadly classified as scalar control, field oriented control
(FOC) and direct torque control [8-9]. Application of scalar
control is easy and simple, but it has its disadvantages of
sluggish response instability of system because of higher order
system effect. This above mentioned problems can be
overcome by field oriented control and direct torque control, in
which induction motor can be controlled like a separately
excited dc motor. The revolution in self commutating solid
state power devices and the availability of fast computing
processors has led to the increased use of control techniques
like field oriented control and direct torque control, resulting in
fast dynamic response and simple and linear speed control of
induction motor drive.
III. FIELD ORIENTED CONTROL
FOC control utilizes the position of the rotor combined
with two-phase currents to generate a means of instantaneously
controlling the torque and flux. FOC require control of both
In this mode of operation, control of the torque and flux is
decoupled such that the d-axis component of the stator current
controls the rotor flux magnitude and the q-axis component
controls the output torque [12].
The stator direct-axis current reference, ids* is obtained
from rotor flux reference input |ψr|* given by (1)
| |
i (1)
L
The required q-axis reference component of the stator
current iqs, for a given torque demand (Te*), can be determined
from (2).
L T
i . . (2)
L | |
Fig.4 shows the MATLAB model of field oriented
control technique used to control induction motor drive.
Different blocks such as a PI speed controller, two phase
rotating to three phase stationary converter block, hysteresis
current controller, voltage source inverter (VSI), an induction
motor etc. are realized using Simulink.
 Rate Transition
RT Vab As long as the stator flux modulus is kept constant, then the
Load torque Vab (V)
+v
- electromagnetic torque can be rapidly changed and controlled
Scope1
+
g
A
Tm
A
Iabc (A) Iabc (A)
Scope
by means of changing the angle ρs – ρr .
VDC m <Rotor speed (wm)>
B B
- <Rotor speed (wm)>
C C Speed Controller
IGBT Inverter <Electromagnetic torque Te (N*m)> Speed reference N Flux*
Flux Discrete,
Calculation 1/z Iabc N* Torque* Ts = Ts s.
Phir Id -T- MagC Ctrl

Phir Iabc Iabc Id DTC

-T- wmTeta Teta Iq Discrete,
Iq ABC to dq Ts = Ts s. MagCTorque* <Stator current is_a (A)>
Teta conversion
Calculation 1/z Gates Flux*
Three-phase <Rotor speed (wm)>
Phir Teta Iabc Iabc inverter Load torque -K-
Iq* Pulses Induction <Electromagnetic torque Te (N*m)>
-T- w Te* Id* Iabc* Iabc*
Te* g machine <Stator current is_b (A)>
Speed reference iqs* Iq* Current
w* + Tm
calculation Regulator A <Stator current is_c (A)> Scope
Speed dq to ABC Vs A
conversion B B m
controller
-C- Phir* Id* - C
C
Phir* id* <Torque reference (Nm)>
Calculation
<Reference>
Fig. 4 Simulink model of field oriented control of induction motor
Fig.6. Simulink model of direct torque control of induction motor
IV. DIRECT TORQUE CONTROL
A direct torque control (DTC) induction motor drive is Fig.6 gives the simulink model of direct torque control of
supplied by a voltage source inverter and it is possible to induction motor. Decoupled control of the stator flux modulus
control directly the stator flux linkage λs (or the rotor flux λr or and torque is achieved by acting on the radial and tangential
the magnetizing flux λm) and the electromagnetic torque by the components respectively of the stator flux-linkage space vector
selection of an optimum inverter voltage vector . Direct torque in its locus.
control of induction motors is described by the basic functional
V. H-BRIDGE SINGLE PHASE AC-DC CONVERTER
blocks as shown in fig.5. By means of the use of closed loop
estimator, the instantaneous values of flux and torque are With the advancement in power electronics and quality of
calculated from stator variables [11]. semi-conductor devices and fast digital processors has led to
improvement converter design. Converters provide the
Δ Look- rectification of ac voltage and also improve power quality on
λref Up Inverter
ac and dc side. These converters can be used for both uni-
θ
ΔT Flux a b c directional power flow as well as bi-directional power flow
Tref Position V load applications. Bi-directional power flow characteristics find
wide application in electric traction where drive requires a four
T Torque
and Flux
ib quadrant operation. In electric traction application, the energy
λ Estimato conservation aspect plays a major role, as the locomotive has to
IM pass a number of up and down gradients on the way and the
use of such converters results in regeneration of energy leading
Fig.5 Block diagram of direct torque control of induction machine to saving in electric consumption [13-17]. Fig.7 shows the
feedback controlling scheme of the converter which is
The stator flux and torque magnitudes are compared with modelled for the applications of the electric traction drive[5].
respective estimated values and errors are processed through As electric traction application uses regeneration so IGBTs are
hysteresis controllers. The output of the flux and torque used to design the H-bridge configuration of this converter.
comparator is used for the inverter optimal switching table. The Discrete,
electromagnetic torque in the three phase induction machines = 5e-006 +v
-
powergui
can be expressed as in (3): [A]
From g +
+-i A Cd +v Connection P
-
Te = 3/2 P|ψ |. |i |. sin α ρ (3) Ls B - Connection P
Universal Bridge Subsystem

where ψs is the stator flux, is is the stator current, P the 952V

1/z
number of poles, ρs is the stator flux angle and αs is the stator Unit Delay Discrete
1st-Order
current angle, both referred to the horizontal axis of the +v
- Filter
stationary frame fixed to the stator. If the stator flux modulus is -C- Divide K- Signal(s)Pulses [A]
kept constant and the angle ρs is changed quickly, then the Constant Gain
PWM Generator
Goto
Unit Delay1 1/z
electromagnetic torque is directly controlled [12]. The same 1900 Vdc*
Ve*
Product

expression can be obtained for the electromagnetic torque as in Constant1 Vdc

Speed Cont
L
(4): Te = P |ψ |. |ψ |. sin ρ ρ (4) Fig.7 MATLAB model of Converter fed electric traction motor drive.
L L L
 VI. SIMULATION RESULTS AND ANALYSIS
Iabc (A)
The converter and the control techniques i.e. field Iabc (A)
1000
oriented control and direct torque control for induction motor 500
drive used in electric traction have been simulated in 0 0

MATLAB Simulink R2007a on Intel Core 2 Duo Processor -1000

-500

2.4 GHz Window Vista Home basic (32-bit) Laptop[12]. 0.5 1 1.5 2 2.5 3 0.65 0.7 0.75 0.8 0.85 0.9 0.95 1 1.05 1.1 1.15

Initially both the control techniques i.e. field oriented Rotor speed Rotor speed(rad/s)
control and direct torque controls were implemented on 295hp 400 400
motor with dc supply. Details of the parameters of the 200 200
simulated model are given in Appendix-A. The results for 0
torque (Nm), rotor speed (rad/s) and stator currents (A) at no 0
0.7 0.8 0.9 1 1.1 1.2
0.6 0.7 0.8 0.9 1 1.1 1.2
load, half the load and full load conditions for the reference
speed at 215 rad/sec are shown for both the methods in fig.8 to Electromagnetic Torque Electromagnetic Torque(Nm)
fig.10. Fig.8 shows the steady state waveform of the three 1100 1100
phase stator current, speed and torque for no load at rated 1000 1000
speed. Further fig.9 and fig.10 shows the steady state 900 900
waveform for both the schemes for half the rated load and full 0.6 0.7 0.8 0.9 1 1.1 1.2 0.7 0.8 0.9 1 1.1 1.2
load Time(sec)

Fig.10 Simulink plot for FOC (left) and DTC (right) showing three phase
Iabc(A) Iabc (A)
stator current, speed and electromagnetic torque for full load (1000Nm) at
200 200 215rad/sec speed.
0 0
-200 -200 It has been found that in DTC scheme, time to attain
0.6 0.8 1 1.2 1.4 1.6 1.8 2 2.2 2.4 0.6 0.7 0.8 0.9 1 1.1 steady state remain relatively constant at 0.55 seconds, whereas
Rotor speed(rad/s)
Rotor speed(rad/s)
in case of FOC time to attain steady state increases with the
400
400 increase in percentage loading. It is observed that the torque
200
200
oscillations in DTC control scheme are negligible whereas in
FOC scheme oscillations in torque are observed. These
0
0.6 0.7 0.8 0.9 1 1.1 1.2 0.7 0.8 0.9 1 1.1 1.2 oscillations are relatively less at no load and then become
Electromagnetic Torque (Nm)
Electromagnetic Torque(Nm) nearly constant with the increase in percentage loading. Also, it
100
100
is found that the distortion of motor current is higher in case of
0
0 FOC. Hence DTC scheme is implemented for traction drive
scheme with 25kV supply.
-100
-100
0.6 0.7 0.8 0.9 1 1.1 1.2
0.7 0.8 0.9 1 1.1 1.2 For the traction motor drive suitable for electric traction,
Time
two induction motors are connected to a single inverter. The
Fig.8 Simulink plot for FOC (left) and DTC (right) showing three phase stator simulated performance of the converter inverter drive system is
current, speed and electromagnetic torque for no load at 215rad/sec speed. shown in fig.11 to fig.14. Fig.11 shows the steady state
500
Iabc (A) waveform of three phase stator current (A), source current (A),
500
source voltage (V), speed (rad/sec) and torque for full load
0
0 (1000Nm) at 215rad/sec speed. Similarly fig.12 and fig.13
-500 shows waveform at half load and no load conditions. Fig.12
-500
0.5 1 1.5 2 2.5 3
0.7 0.8 0.9 1 1.1 1.2
shows the waveform of three phase stator current, source
Rotor speed(rad/s) current, source voltage, speed and torque for full load
Rotor speed(rad/s)
400
(1000Nm) at 50% of the rated speed and full load.
400
200
200
0
0.6 0.7 0.8 0.9 1 1.1 1.2 0
0.6 0.7 0.8 0.9 1 1.1 1.2
Electromagnetic Torque(Nm) Electromagnetic Torque(Nm)

550 550
500 500
450 450
400
0.6 0.7 0.8 0.9 1 1.1 1.2 0.7 0.8 0.9 1 1.1 1.2
Time
Fig.9 Simulink plot for FOC (left) and DTC (right) showing three phase
stator current, speed and electromagnetic torque for half load (500Nm) at
 4
x 10 Source Voltage(V) 4
x 10 Source Voltage (V)
2
2
0 0
-2 -2
0.4 0.5 0.6 0.7 0.8 0.9 1 1.1 1.2 0.4 0.5 0.6 0.7 0.8 0.9 1 1.1 1.2
Source Current (A) Source Current (A)
50 2

0 0

-2
-50
0.4 0.5 0.6 0.7 0.8 0.9 1 1.1 1.2 0.4 0.5 0.6 0.7 0.8 0.9 1 1.1 1.2
Iabc (A)
Iabc (A)
1000 400
200
0 0
-200
-400
-1000
0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Rotor speed(rad/s)
400 400

200 200

0
0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Electromagnetic Torque Electromagnetic Torque(Nm)
400
1000
200
500
0
0
0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Time Time

Fig.11 Simulink plot showing source voltage, source current, three phase Fig.13 Simulink plot showing source voltage, source current, three phase
stator current, speed and torque for full load (1000Nm) at 215rad/sec speed. stator current, speed and torque for no load at 215rad/sec speed.
4
x 10 Source Voltage(V) 4
Supply Voltage(V)
x 10
2 2
0 0
-2
-2
0.4 0.5 0.6 0.7 0.8 0.9 1 1.1 1.2 0.4 0.5 0.6 0.7 0.8 0.9 1 1.1 1.2
Source Current(A) 50

10 0
0
-10 -50
0.4 0.5 0.6 0.7 0.8 0.9 1 1.1 1.2
0.4 0.5 0.6 0.7 0.8 0.9 1 1.1 1.2 Iabc (A)
Iabc (A) 1000
500
0
0

-500 -1000
0.3 0.4 0.5 0.6 0.7 0.8 0.9 1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Rotor speed
Rotor speed
150
400
100
200 50
0
0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Electromagnetic Torque
Electromagnetic Torque

800 1000
600
500
400
200 0
0 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Time
Time
Fig.12 Simulink plot showing source voltage, source current, three phase Fig.14 Simulink plot showing source voltage, source current, three phase
stator current, speed and torque for half load (500Nm) at 215rad/sec speed. stator current, speed and torque for at half the rated speed and full load.
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The induction machine used in the MATLAB /simulation is
3phase, 72.5Hz induction machine having the following
parameters.
Power output 295HP(220kW)
Rated Voltage 1040V
Rs (stator resistance) 0.0749Ω
Rr (rotor resistance) 0.0801Ω
Ls (stator inductance) 0.000971H
Lr (rotor inductance) 0.000891H
Lm (magnetizing inductance) 0.03041H
J (moment of inertia) 10 Kg m2

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