8/8/2017 Direct torque control - Wikipedia

Direct torque control

From Wikipedia, the free encyclopedia

Direct torque control (DTC) is one method used in variable frequency drives to control the torque (and thus
finally the speed) of three-phase AC electric motors. This involves calculating an estimate of the motor's
magnetic flux and torque based on the measured voltage and current of the motor.

Contents
1 DTC control platform
2 History
3 References
4 See also

DTC control platform

Stator flux linkage is estimated by integrating the stator voltages. Torque is estimated as a cross product of
estimated stator flux linkage vector and measured motor current vector. The estimated flux magnitude and
torque are then compared with their reference values. If either the estimated flux or torque deviates too far from
the reference tolerance, the transistors of the variable frequency drive are turned off and on in such a way that
the flux and torque errors will return in their tolerant bands as fast as possible. Thus direct torque control is one
form of the hysteresis or bang-bang control.

Overview of key competing VFD control platforms:

Scalar control
V/f (Volts per frequency)

VFD FOC (Field-oriented control)

Vector control
DSC (Direct self control)
DTC (Direct torque control)

SVM (Space vector modulation)

The properties of DTC can be characterized as follows:

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Torque and flux can be changed very fast by changing the references
High efficiency & low losses - switching losses are minimized because the transistors are switched only
when it is needed to keep torque and flux within their hysteresis bands
The step response has no overshoot
No coordinate transforms are needed, all calculations are done in stationary coordinate system
No separate modulator is needed, the hysteresis control defines the switch control signals directly
There are no PI current controllers. Thus no tuning of the control is required
The switching frequency of the transistors is not constant. However, by controlling the width of the
tolerance bands the average switching frequency can be kept roughly at its reference value. This also
keeps the current and torque ripple small. Thus the torque and current ripple are of the same magnitude
as with vector controlled drives with the same switching frequency.
Due to the hysteresis control the switching process is random by nature. Thus there are no peaks in the
current spectrum. This further means that the audible noise of the machine is low
The intermediate DC circuit's voltage variation is automatically taken into account in the algorithm (in
voltage integration). Thus no problems exist due to dc voltage ripple (aliasing) or dc voltage transients
Synchronization to rotating machine is straightforward due to the fast control; Just make the torque
reference zero and start the inverter. The flux will be identified by the first current pulse
Digital control equipment has to be very fast in order to be able to prevent the flux and torque from
deviating far from the tolerance bands. Typically the control algorithm has to be performed with 10 - 30
microseconds or shorter intervals. However, the amount of calculations required is small due to the
simplicity of the algorithm
The current measuring devices have to be high quality ones without noise because spikes in the measured
signals easily cause erroneous control actions. Further complication is that no low-pass filtering can be
used to remove noise because filtering causes delays in the resulting actual values that ruins the
hysteresis control
The stator voltage measurements should have as low offset error as possible in order to keep the flux
estimation error down. For this reason the stator voltages are usually estimated from the measured DC
intermediate circuit voltage and the transistor control signals
In higher speeds the method is not sensitive to any motor parameters. However, at low speeds the error in
stator resistance used in stator flux estimation becomes critical

Summarizing properties of DTC in comparison to field-oriented control, we have:[1] [2]

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Comparison property DTC FOC

Dynamic response to torque Very fast Fast

Coordinates reference frame alpha, beta (stator) d, q (rotor)

Low speed (< 5% of nominal) Requires speed sensor for

Good with position or speed sensor
behavior continuous braking

rotor flux, torque current iq & rotor flux current id

Controlled variables torque & stator flux
vector components

Steady-state torque/current/flux Low (requires high quality

Low
ripple & distortion current sensors)

Parameter sensitivity, sensorless Stator resistance d, q inductances, rotor resistance

d, q inductances, flux (near zero

Parameter sensitivity, closed-loop d, q inductances, rotor resistance
speed only)

Rotor position measurement Not required Required (either sensor or estimation)

Current control Not required Required

PWM modulator Not required Required

Coordinate transformations Not required Required

Varies widely around average

Switching frequency Constant
frequency

Lower (requires high quality

Switching losses Low
current sensors)

Audible noise spread spectrum sizzling noise constant frequency whistling noise

speed (PID control), rotor flux control (PI), id and iq

Control tuning loops speed (PID control)
current controls (PI)

Complexity/processing requirements Lower Higher

Typical control cycle time 10-30 microseconds 100-500 microseconds

The direct torque method performs very well even without speed sensors. However, the flux estimation is
usually based on the integration of the motor phase voltages. Due to the inevitable errors in the voltage
measurement and stator resistance estimate the integrals tend to become erroneous at low speed. Thus it is not
possible to control the motor if the output frequency of the variable frequency drive is zero. However, by
careful design of the control system it is possible to have the minimum frequency in the range 0.5 Hz to 1 Hz
that is enough to make possible to start an induction motor with full torque from a standstill situation. A
reversal of the rotation direction is possible too if the speed is passing through the zero range rapidly enough to
prevent excessive flux estimate deviation.

If continuous operation at low speeds including zero frequency operation is required, a speed or position sensor
can be added to the DTC system. With the sensor, high accuracy of the torque and speed control can be
maintained in the whole speed range.

History
DTC was patented by Manfred Depenbrock in the US[3] and in Germany,[4] the latter patent having been filed
on October 20, 1984, both patents having been termed direct self-control (DSC). However, Isao Takahashi and
Toshihiko Noguchi described a similar control technique termed DTC in an IEEJ paper presented in September
1984[5] and in an IEEE paper published in late 1986.[6] The DTC innovation is thus usually credited to all three
individuals.

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The only difference between DTC and DSC is the shape of the path along which the flux vector is controlled,
the former path being quasi-circular whereas the latter is hexagonal such that the switching frequency of DTC
is higher than DSC. DTC is accordingly aimed at low-to-mid power drives whereas DSC is usually used for
higher power drives.[7] (For simplicity, the rest of the article only uses the term DTC.)

Since its mid-1980s introduction applications, DTC have been used to advantage because of its simplicity and
very fast torque and flux control response for high performance induction motor (IM) drive applications.

DTC was also studied in Baader's 1989 thesis, which provides a very good treatment of the subject.[8]

The first major successful commercial DTC products, developed by ABB, involved traction applications late in
the 1980s for German DE502 [1] (http://commons.wikimedia.org/wiki/Category:MaK_DE_502)[2] (http://ww
w.loks-aus-kiel.de/index.php?nav=1400726&lang=1) and DE10023 [3] (http://www.loks-aus-kiel.de/index.ph
p?nav=1400728) diesel-electric locomotives[9] and the 1995 launch of the ACS600 drives family. ACS600
drives has since been replaced by ACS800[10] and ACS880 drives.[11] Vas,[12] Tiitinen et al.[13] and Nash[14]
provide a good treatment of ACS600 and DTC.

DTC has also been applied to three-phase grid side converter control.[15][16] Grid side converter is identical in
structure to the transistor inverter controlling the machine. Thus it can in addition to rectifying AC to DC also
feed back energy from the DC to the AC grid. Further, the waveform of the phase currents is very sinusoidal
and power factor can be adjusted as desired. In the grid side converter DTC version the grid is considered to be
a big electric machine.

DTC techniques for the interior permanent magnet synchronous machine (IPMSM) were introduced in the late
1990s[17] and synchronous reluctance motors (SynRM) in the 2010s.[18]

DTC was applied to doubly fed machine control in the early 2000s.[19] Doubly fed generators are commonly
used in 1-3 MW wind turbine applications.

Given DTC's outstanding torque control performance, it was surprising that ABB's first servo drive family, the
ACSM1, was only introduced in 2007.[20]

From the end of 90's several papers have been published about DTC and its modifications such as space vector
modulation,[21] which offers constant switching frequency.

In light of the mid-2000s expiration of Depenbrock's key DTC patents, it may be that other companies than
ABB have included features similar to DTC in their drives.

References

1. Garcia, X.T.; Zigmund, B.; Terlizzi, A.; Pavlanin, R.; Salvatore, L. (Mar 2006). "Comparison Between
FOC and DTC strategies for Permanent Magnet" (http://advances.uniza.sk/index.php/AEEE/article/view/
179). Advances in Electrical and Electronic Engineering. 5 (1-2).
2. Kazmierkowski, M. P.; Franquelo, L.; Rodriguetz, J.; Perez, M.; Leon, J. (Sep 2011). "High Performance
Motor Drives" (http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=6042559&contentType=J
ournals+%26+Magazines&sortType%3Dasc_p_Sequence%26filter%3DAND%28p_IS_Number%3A604
2545%29). IEEE Industrial Electronics Magazine Sept 2011. Vol. 5 no. 3. pp. 6–26.
doi:10.1109/mie.2011.942173 (https://doi.org/10.1109%2Fmie.2011.942173).
3. Depenbrock, Manfred. "US4678248 Direct Self-Control of the Flux and Rotary Moment of a Rotary-
Field Machine" (http://www.google.com/patents/US4678248).
4. Depenbrock, Manfred. "DE3438504 (A1) - Method and Device for Controlling of a Rotating Field
Machine" (http://worldwide.espacenet.com/publicationDetails/biblio;jsessionid=93A242BB138BECE75
3C72D97DEBCEEFF.espacenet_levelx_prod_3?FT=D&date=19860424&DB=EPODOC&locale=en_EP
&CC=DE&NR=3438504A1&KC=A1&ND=4). Retrieved 13 November 2012.

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5. Noguchi, Toshihiko; Takahashi, Isao (Sep 1984). "Quick Torque Response Control of an Induction Motor
Based on a New Concept". IEEJ: 61–70.
6. Takahashi, Isao; Noguchi, Toshihiko (Sep 1986) (Sep–Oct 1986). "A New Quick-Response and High-
Efficiency Control Strategy of an Induction Motor" (http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&
arnumber=4504799&contentType=Journals+%26+Magazines&refinements%3D4293480702%26queryT
ext%3DIsao+Takahashi). IA-22 (5). IEEE Trans. on Industry Applications: 820–827.
doi:10.1109/tia.1986.4504799 (https://doi.org/10.1109%2Ftia.1986.4504799). Retrieved 13 November
2012.
7. Foo, Gilbert (2010). Sensorless Direct Torque and Flux Control of Interior Permanent Magnet
Synchronous Motors at Very Low Speeds Including Standstill. Sydney, Australia: The University of New
South Wales.
8. Baader, Uwe (1988). Die Direkte-Selbstregelung (DSR) : e. Verfahren zur hochdynam. Regelung von
Drehfeldmaschinen (in German). (https://suchen.ub.rub.de/Record/1146510_bo) (Als Ms. gedr. ed.).
Düsseldorf: VDI-Verl. ISBN 3-18-143521-X.
9. Jänecke, M.; Kremer, R.; Steuerwald, G. (9–12 Oct 1989). "Direct Self-Control (DSC), A Novel Method
Of Controlling Asynchronous Machines In Traction Applications". Proceedings of the EPE'89. 1: 75–81.
10. "ACS800 - The New All-compatible Drives Portfolio" (http://www.abb.com/product/us/9AAC133421.as
px). Retrieved 14 November 2012.
11. Lönnberg, M.; Lindgren, P. (2011). "Harmonizing drives - The driving force behind ABB's all-
compatible drives architecture" (http://abblibrary.abb.com/global/scot/scot271.nsf/0/d0e4255c4bf47b14c
1257958005844d1/$file/62-65%202m152_eng_72dpi.pdf) (PDF). ABB Review (2): 63–65.
12. Vas, Peter (1998). Sensorless Vector and Direct Torque Control (Repr. ed.). Oxford [u.a.]: Oxford Univ.
Press. ISBN 0198564651.
13. Tiitinen, P.; Pohjalainen, P.; Lalu, J. (May 1995). "The Next Generation Motor Control Method: Direct
Torque Control (DTC)" (http://www.epe-association.org/epe/documents.detail.php?documents_id=3237).
EPE Journal. 5 (1): 14–18. doi:10.1109/pedes.1996.537279 (https://doi.org/10.1109%2Fpedes.1996.537
279). Retrieved 14 November 2012.
14. Nash, J.N. (Mar 1997). "Direct Torque Control, Induction Motor Vector Control Without an Encoder" (ht
tp://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=567792&contentType=Journals+%26+Mag
azines&queryText%3DDirect+Torque+Control%2C+Induction+Motor+Vector+Control+Without+an+En
coder). IEEE Trans. on Industry Applications. 33 (2): 333–341. doi:10.1109/28.567792 (https://doi.org/1
0.1109%2F28.567792).
15. Harmoinen, Martti; Manninen, Vesa; Pohjalainen, Pasi; Tiitinen, Pekka (17 Aug 1999). "US5940286
Method for Controlling the Power To Be Transferred Via a Mains Inverter" (http://www.google.com/pate
nts/US5940286). Retrieved 13 November 2012.
16. Manninen, V. (19–21 Sep 1995). "Application of Direct Torque Control Modulation to a Line
Converter.". Proceedings of EPE 95, Sevilla, Spain: 1, 292–1,296.
17. French, C.; Acarnley, P. (1996). "Direct torque control of permanent magnet drives" (http://ieeexplore.iee
e.org/xpl/articleDetails.jsp?tp=&arnumber=536869&contentType=Journals+%26+Magazines&queryTex
t%3DDirect+torque+control+of+permanent+magnet+drives). IEEE Transactions on Industry
Applications. 32 (5): 1080–1088. doi:10.1109/28.536869 (https://doi.org/10.1109%2F28.536869).
Retrieved 15 November 2012.
18. Lendenmann, Heinz; Moghaddam, Reza R.; Tammi, Ari (2011). "Motoring Ahead" (https://web.archive.
org/web/20140107064419/http://search.abb.com/library/Download.aspx?DocumentID=9AKK105408A0
223&LanguageCode=en&DocumentPartId=&Action=Launch). ABB Review. Archived from the original
(http://search.abb.com/library/Download.aspx?DocumentID=9AKK105408A0223&LanguageCode=en&
DocumentPartId=&Action=Launch) on January 7, 2014. Retrieved 7 January 2014.
19. Gokhale, Kalyan P.; Karraker, Douglas W.; Heikkil, Samuli J. (10 Sep 2002). "US6448735 Controller for
a Wound Rotor Slip Ring Induction Machine" (http://www.google.com/patents/US6448735). Retrieved
14 November 2012.
20. "DSCM1 - High Performance Machinery Drives" (https://web.archive.org/web/20111018033817/http://w
ww05.abb.com/global/scot/scot201.nsf/veritydisplay/6bb6fb35783c76e3c125765f0065cb59/$file/ACSM
1technicalcatalogueREVE_EN.pdf) (PDF). Archived from the original (http://www05.abb.com/global/sc
ot/scot201.nsf/veritydisplay/6bb6fb35783c76e3c125765f0065cb59/$file/ACSM1technicalcatalogueREV
E_EN.pdf) (PDF) on October 18, 2011. Retrieved 18 October 2011.
21. Lascu, C.; Boldea, I.; Blaabjerg, F. (12–15 Oct 1998). "A modified direct torque control (DTC) for
induction motor sensorless drive.". Proceedings of IEEE IAS 98, St. Louis, MO, USA. 1: 415–422.
doi:10.1109/ias.1998.732336 (https://doi.org/10.1109%2Fias.1998.732336).
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See also
Vector control (motor)

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