Electric Power Components and Systems

ISSN: 1532-5008 (Print) 1532-5016 (Online) Journal homepage: https://www.tandfonline.com/loi/uemp20

Modified Switching Table-Based Direct Torque

Control of Six-Phase Induction Motor Drive

Suhel A Shaikh Mo, Rakesh Maurya & Nitin Gupta

To cite this article: Suhel A Shaikh Mo, Rakesh Maurya & Nitin Gupta (2019) Modified
Switching Table-Based Direct Torque Control of Six-Phase Induction Motor Drive, Electric Power
Components and Systems, 47:11-12, 1077-1089, DOI: 10.1080/15325008.2019.1637970

To link to this article: https://doi.org/10.1080/15325008.2019.1637970

Published online: 14 Aug 2019.

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Electric Power Components and Systems, 47(11-12): 1077–1089, 2019
Copyright # Taylor & Francis Group, LLC
ISSN: 1532-5008 print / 1532-5016 online
DOI: 10.1080/15325008.2019.1637970
Modified Switching Table-Based Direct Torque
Control of Six-Phase Induction Motor Drive
Suhel A Shaikh Mo,1 Rakesh Maurya,1 and Nitin Gupta2
1
Department of Electrical Engineering, Sardar Vallabhbhai National Institute of Technology, Surat, Gujarat, India
2
Department of Electrical Engineering, Malaviya National Institute of Technology, Jaipur, Rajasthan, India
CONTENTS
1. Introduction
2. SPIM Model and Vector Space Decomposition
3. Conventional DTC Technique for SPIM
4. Modified DTC Algorithm
5. Implementation of Control Algorithm
6. Conclusion
References
Keywords: harmonic currents, switching table-based direct torque control
(ST-DTC), six-phase induction motor (SPIM), six-lag two-level voltage
source inverter, torque ripple
Received 25 October 2017; accepted 10 May 2019
Address correspondence to Rakesh Maurya, Department of Electrical
Engineering, Sardar Vallabhbhai National Institute of Technology, Surat,
Gujarat, India. E-mail: rmaurya@eed.svnit.ac.in
Color versions of one or more of the figures in the article can be found
online at www.tandfonline.com/uemp.
Abstract—This paper presents “Switching Table based Direct
Torque Control” of Six-Phase Induction Motor (SPIM) Drive. The
SPIM consists of two sets of stator windings spatially shifted by
an angle of 30
. The extension of DTC technique of three-phase
induction motor for a six-phase induction motor yields
conventional DTC, in which one large voltage vector per sampling
period is utilized. This technique suffers from large stator current
harmonics of the order of 6k ± 1 (k ¼ 1, 3, 5..). Initially, the
conventional DTC technique has been implemented for
comparison purpose. Further, its performance is improved by
using two voltage vectors in each sampling period. In order to
investigate the performance of ST-DTC based SPIM, a simulation
study is carried out under different operating conditions. To
validate the simulation results, a prototype model of six-phase
induction motor rated for 1.5 kW, 200 V, 50 Hz is developed.
Results obtained during simulation and experimentation show the
effectiveness of modified ST-DTC technique in the reduction of
stator current harmonics.
1. INTRODUCTION
Numerous applications require high-power converter, such
as pipeline pumps, in the petrochemical industry, fans in
the cement industry, textile industry, and electric vehicles
applications [1–5]. These applications demand high power
from few kilowatts to several megawatts however the con-
verter power ratings cannot be increased over a certain
range due to the limitations on the power ratings of semi-
conductor devices [6, 7]. Therefore, to overcome this limi-
tation, multilevel inverters fed electrical drives are
employed to meet the requirement of high power [8]. The
multiphase induction motor is also one of the alternatives
in which power demand can be divided into multiphase
and hence, higher power requirement is accomplished by
reducing power rating of a converter to drive the multi-
phase machines [8–10].
The multiphase machines offer several features com-
pared to multilevel converters such as reduction of stator
copper loss, lower torque pulsation, higher torque per
1077
1078 Electric Power Components and Systems, Vol. 47 (2019), No. 11-12
NOMENCLATURE
dk dTe Flux and torque status
Ids Iqs Ixs Iys Stator current on d-q and x-y planes
Idr Iqr Rotor current on d-q plane
Ia1 ; Ib1 ; Ic1 ;
Ia2 ; Ib2 ; Ic2 Stator phase currents
Lls Stator leakage inductance
Llr Rotor leakage inductance
Lm Magnetizing inductance
P Number of stator pole
Rs Stator resistance
Rr Rotor resistance
Te Electromagnetic torque
Ts Sampling time interval
ampere, and higher system reliability [11–14]. These add-
itional features make it preferable for some specialized appli-
cations such as electric vehicles (EVs) and hybrid electric
vehicles (HEVs), electric ship propulsion, more-electric air-
craft, and electric locomotive traction [12, 13, 15]. In the
multiphase system, the two-level voltage source inverter
(VSI) fed six-phase induction motor (SPIM) with two sets of
three-phase stator windings spatially shifted by 30 electrical
degrees and isolated neutral points is one of the most widely
discussed topologies [6, 16]. The SPIM is usually realized by
a simple modification of the existing three-phase motor wind-
ing configuration [17]. The potential benefit of this configur-
ation is that it eliminates all space harmonics of the order
(6k ± 1, k ¼ 1, 3, 5..) [8] and as a result, lower sixth harmonic
torque pulsation is absent in this machine [18, 19]. Another
distinct characteristic of this machine with two isolated neu-
trals is that if any fault occurs in any phase winding then that
set of windings (a1, b1, and c1) are taken out for service. The
machine can still operate without any modification in control
algorithms using a remaining set of windings (a2, b2, and c2)
[20]. Undoubtedly, the power rating and torque capability are
reduced to half in this case [6].
In principle, the methods of speed control of SPIM is
same as that of three-phase induction motor [20]. The advent
of modern DSP controllers, the implementation cost of
sophisticated control algorithms such as vector control, DTC
is negligible. Therefore, the research in this domain is
increased in the last few years [20]. This paper deals with the
switching table-based direct torque control (ST-DTC) techni-
ques for SPIM. A simple extension of three-phase DTC for a
six-phase induction motor, using large voltage vectors, pro-
duces large stator current harmonics. In order to reduce large
stator current harmonics, various solutions have been
reported in the literature [21–29]. Individual flux control in
both the plane to control this harmonic current is
Va1 ; Vb1 ; Vc1 ;
Va2 ; Vb2 ; Vc2 Stator phase voltages
Vds Vqs Vxs Vys Stator voltage on d-q and x-y planes
Vdr Vqr Rotor voltage on d-q plane
Vdc DC link voltage
xmech Shaft speed in radian/sec
xsl Slip speed in radian/sec
kds kqs kxs kys Stator flux linkages on d-q and x-y planes
kdr kqr Rotor flux linkages on d-q plane
ks kr Stator and rotor flux respectively
r Leakage factor
h The angular displacement between stator flux
and the d-axis
implemented in [21]. The deadbeat DTC presented in [22]
intended to achieve constant switching frequency and reduce
current harmonics. Modified switching table for six-phase
PMSM motor to reduce the harmonic current is developed in
[23, 24]. Recently, a selection of large or medium vector in
d-q plane based on the position of flux in x-y plane to reduce
the stator current harmonic is proposed in [25] for SPIM. The
concept of virtual voltage vector [26], sensorless DTC [27,
28] dedicated to the five-phase machine is implemented.
The aim of proposed work is to apply two voltage vectors
(regardless the number of a sector) in a single sampling
period to control the x-y plane harmonic currents, in compari-
son with the technique proposed in [20] which uses two or
three vectors (sector number dependent) to control the har-
monic currents. In comparison with the technique proposed
in [22], this technique does not require additional calculation
of flux in x-y plane. The property of a modified DTC algo-
rithm is the ease of implementation due to above-mentioned
reasons. Theoretical considerations are verified through com-
puter simulations and experimentation. It is observed that the
modified DTC algorithm reduces stator current harmonic sig-
nificantly and also provides satisfactory dynamic perform-
ance. Experimental results are obtained from 1.5 kW
prototype six-phase machine controlled by a digital signal
controller (STM32F407) and presented.
2. SPIM MODEL AND VECTOR SPACE
DECOMPOSITION
The vector space decomposition (VSD) technique, intro-
duced in [30], is used to develop the mathematical model
of SPIM. In the dual three-phase inverter, there are (26) 64
possible combinations of switching states. Based on these
switching states, the instantaneous output phase voltages
can be obtained from the following Eq. (1)
 Shaikh Mo et al.: Modified Switching Table-Based Direct Torque Control of Six-Phase Induction Motor Drive 1079

FIGURE 1. Space vector of dual inverter VSIs in (a) d-q plane and (b) x-y plane.

d-q x-y This six-dimensional space represents as three mutually

orthogonal subspace (d-q, x-y, and 01-02) as shown in
VL 0.643Vdc 0.172Vdc Figure 1. In Figure 1, the third subspace is excluded. This
VML 0.471Vdc 0.471Vdc is due to two star-connected three-phase systems with iso-
VM 0.333Vdc 0.333Vdc
VS 0.172Vdc 0.643Vdc
lated neutral. The first two rows of the matrix represent d-
V0 0Vdc 0Vdc q components. These components leading to fundamental
flux and torque production, and the harmonics of the order
TABLE 1. Magnitude of space vectors on both the planes.
of 12k ± 1 (k ¼ 1, 2, 3..) are mapped in this plane. The third
2 3 2 32 3 and fourth rows represent x-y components. These compo-
Va1 2 1 1 0 0 0 Sa1
6 Vb1 7 6 1 nents represent harmonics with the order of 6k ± 1 (k ¼ 1,
6 7 6 2 1 0 0 0 7 6
76 Sb1 7
7
6 Vc1 7 Vdc 6 1 1 2 0 0 7 6
0 76 Sc1 7 3, 5..), that is, the fifth, seventh, etc. These harmonics are
6 7¼ 6 7
6 Va2 7 3 6 1 1 7 6 7 decoupled from the other components and further stator to
6 7 6 0 0 0 2 76 Sa2 7
4 Vb2 5 4 0 0 0 1 2 1 5 4 Sb2 5 rotor coupling does not appear. Therefore, these compo-
Vc2 0 0 0 1 1 2 Sc2 g nents do not contribute to torque production. The last two
(1) rows define the zero sequence components with the order
of 3k (k ¼ 1, 3, 5..) and neglected as mentioned earlier.
By applying a transformation matrix (2), these phase In a dual three-phase inverter, based on their magnitude,
voltages are transformed into 64 voltage vectors in the six- all voltage vectors in each plane can be classified as large
dimensional space. (VL ), medium-large (VML ), medium (VM ), small (VS ), and
2 3
2p 4p p 5p 9p zero space vector (V0 ) as shown in Table 1. These voltage
2 3 61 cos cos cos cos cos 7
6 3 3 6 6 6 72 3 vectors of the six-phase inverter are denoted by a binary
fd 6 2p 4p p 5p 9p 7 fa1
6 fq 7 60 sin sin sin sin sin 76 7 sequence of Vi ¼ Sa1 Sa2 Sb1 Sb2 Sc1 Sc2 in Figure 1. By
6 7 6 3 3 6 6 7
6 6 fb1 7
6 fx 7 2 6 p 9p 7
76 fc1 7
6 7¼ 6 4p 8p 5p
76 7
neglecting the zero voltage vectors, the d-q and x-y subspace
6 fy 7 6 6
6
1 cos cos cos cos cos
6 76 fa2 7
6 7 6
3 3 6 6 6 7 voltage vectors are described in Figure 1(a and b), respect-
4 f01 5 60 4p 8p 5p p 9p 7
74 fb2 5
6 sin sin sin sin sin
6 7 ively. As shown in Figure 1, large vectors of the d-q plane
f02 6 3 3 6 6 7 fc2 g
41 1 1 0 0 0 5
are mapped into small vector in x-y plane. Therefore, select-
0 0 0 1 1 1
ing large vector in d-q plane for control algorithm results to
(2) generate harmonic mapped in x-y plane. In order to generate
1080 Electric Power Components and Systems, Vol. 47 (2019), No. 11-12
FIGURE 2. Schematic diagram of ST-DTC-based con-
trol algorithm.
sinusoidal output, ST-DTC technique must synthesize funda-
mental component in the d-q plane while simultaneously
maintain zero average value in x-y plane.
The mathematical model of SPIM is developed in a sta-
tionary reference frame with the assumption of sinusoidal
winding distribution. The stator and rotor flux linkages,
voltage, and current equations are given as follows.
Flux linkages on d-q and x-y plane are expressed as:
kds ¼ ðLls þ Lm ÞIds þ Lm Idr
kqs ¼ ðLls þ Lm ÞIqs þ Lm Iqr
kdr ¼ ðLlr þ Lm ÞIdr þ Lm Ids
(3)
kqr ¼ ðLlr þ Lm ÞIdr þ Lm Iqs
kxs ¼ Lls Ixs
kys ¼ Lls Iys
Stator voltage on d-q and x-y plane:
Vds ¼ Rs ids þ pkds
Vqs ¼ Rs iqs þ pkqs
(4)
Vxs ¼ Rs ixs þ pkxs
Vys ¼ Rs iys þ pkys
As mentioned earlier, stator to rotor coupling does not
appear for x-y plane. Hence, rotor voltage on d-q plane:
Vdr ¼ 0 ¼ Rr idr þ pkdr xsl kqr
(5)
Vqr ¼ 0 ¼ Rr iqr þ pkqr þ xsl kdr:
The expression for electromagnetic torque in stationary
reference frame as:
n p
Te ¼   Lm ½Idr Iqs Ids Iqr  (6)
2 2
FIGURE 3. DTC flux and torque hysteresis loop presentation.
where Lm ¼ ðn=2ÞM and M is the maximum value of the
stator to rotor mutual inductance in the phase-variable
model and P is the number of pole. Note that, all the above
Eqs. (3)–(5) for d-q components and the torque Eq. (6) are
identical as for a three-phase induction machine where n is
the number of phases.
3. CONVENTIONAL DTC TECHNIQUE FOR SPIM
In the last few years, induction motor control techniques
have been the field of interest of many researchers to find
out different solutions for induction motor control having
the features of precise and quick torque response, and
reduction of the complexity of field-oriented control The
direct torque control technique has been recognized as the
simple solution to achieve these requirements [31, 32].
This technique offers several advantages such as the
absence of PWM modulator, PID controller for flux, and
torque loop, coordinate transformation, exhibit robustness
against machine parameters, ease of implementation, fast
dynamic response [33].
The switching table based DTC technique is a closed
loop control scheme shown in Figure 2. The important ele-
ments of the control structure being: the AC power supply
circuit, AC/DC converter, a dual three-phase voltage source
inverters, SPIM, flux and torque estimator in addition with
angle calculation, two hysteresis controllers, and a lookup
table for generating switching pulses of the inverter. In the
conventional DTC, only large voltage vectors in the d-q
 Shaikh Mo et al.: Modified Switching Table-Based Direct Torque Control of Six-Phase Induction Motor Drive 1081

dk Sector dTe S1 S2 S3 S4 S5 S6 S7 S8 S9 S10 S11 S12

1 1 V60 V28 V12 V14 V15 V7 V3 V35 V51 V49 V48 V56
0 V63 V0 V63 V0 V63 V0 V63 V0 V63 V0 V63 V0
21 V35 V51 V49 V48 V56 V60 V28 V12 V14 V15 V7 V3
0 1 V28 V12 V14 V15 V7 V3 V35 V51 V49 V48 V56 V60
0 V0 V63 V0 V63 V0 V63 V0 V63 V0 V63 V0 V63
21 V3 V35 V51 V49 V48 V56 V60 V28 V12 V14 V15 V7
TABLE 2. Switching table for conventional DTC.

currents are transformed into d-q subspace using Eq. (2).

In the stationary reference frame, i.e., d-q subspace, the
stator flux equation can be derived from Eq. (4) as:
ð
kds ¼ ðVds  Rs Ids Þdt
ð
kqs ¼ ðVqs  Rs Iqs Þdt (7)
qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
ks ¼ kds 2 þ kqs 2

The electromagnetic torque produced due to the interaction

of stator and rotor flux is obtained by deriving the Eq. (6):
 
6 p Lm
Te ¼ ks kr sin c (8)
2 2 rLls Llr
The position of the stator flux is estimated using the fol-
lowing equation:
kqs
h ¼ tan1 (9)
kds
Based on the position of estimated stator flux, the d-q plane is
divided into 12 sectors. The generalized expression for sector k:
p p p p
 þ ðk1Þ  h< þ ðk1Þ; k ¼ 1; 2; :::12 (10)
12 6 12 6
From the Eq. (8), torque varies as the angle between
stator flux and rotor flux is changing, that is, c. So in order
to obtain high dynamic performance, it is required to vary
FIGURE 4. Calculation of application times for active c rapidly. In stationary reference frame, the stator flux
vectors in (a) d-q plane and (b) x-y plane. equation can be written as:
ð
ks ¼ ðVs  Rs Is Þdt (11)
plane are considered for generating control signals. This is
the simplest extension of a three-phase conventional DTC If the stator resistance drop is neglected for simplicity,
where only the outermost largest vector is applied in order the stator flux varies along the direction of applied voltage
to control the torque and flux. The fundamental idea of vector and the Eq. (11) is reduced to
DTC is to control both the torque and the magnitude of
ks ¼ Vs Ts þ ks jt¼0 (12)
flux within the associated error band [31, 33]. In order to
understand the DTC principle, some of the equations of the So, by applying a stator voltage vector Vs for a small
induction motor need to be reviewed. Phase voltages of the time interval Ts ; ks can be changed incrementally and
machine are estimated with the help of switching instant hence c can be controlled. The command value of the
and DC bus voltage. The estimated voltages and sensed stator flux vector ks follows a circular trajectory, while ks
1082 Electric Power Components and Systems, Vol. 47 (2019), No. 11-12

dk dTe Dwell time S1 S2 S3 S4 S5 S6 S7 S8 S9 S10 S11 S12

1 1 0.73Ts V60 V28 V12 V14 V15 V7 V3 V35 V51 V49 V48 V56
0.26Ts V24 V44 V30 V13 V6 V11 V39 V19 V33 V50 V57 V52
0 Ts V63 V0 V63 V0 V63 V0 V63 V0 V63 V0 V63 V0
21 0.73Ts V35 V51 V49 V48 V56 V60 V28 V12 V14 V15 V7 V3
0.26Ts V19 V33 V50 V57 V52 V24 V44 V30 V13 V6 V11 V39
0 1 0.73Ts V28 V12 V14 V15 V7 V3 V35 V51 V49 V48 V56 V60
0.26Ts V44 V30 V13 V6 V11 V39 V19 V33 V50 V57 V52 V24
0 Ts V0 V63 V0 V63 V0 V63 V0 V63 V0 V63 V0 V63
21 0.73Ts V3 V35 V51 V49 V48 V56 V60 V28 V12 V14 V15 V7
0.26Ts V39 V19 V33 V50 V57 V52 V24 V44 V30 V13 V6 V11
TABLE 3. Switching table for modified DTC.

Parameter Value
shaft, Table 2 is developed. Consider that the stator flux
vector lies in sector 1 as shown in Figure 3. To increase
Stator resistance ðRS Þ 4.35X the torque, voltage vector V60 and V28 should be applied.
Rotor resistance ðRr Þ 4.61X
To decrease the torque, voltage vector V3 and V35 should
Rotor leakage inductance ðLlr Þ 0.02211H
Magnetizing inductance ðLm Þ 0.430H be applied. To maintain torque constant, zero voltage vec-
Stator leakage inductance ðLls Þ 0.01153H tors are applied. Similarly, voltage vector V60 and V35
increase flux magnitude and V3 and V28 decrease flux
TABLE 4. SPIM parameters.
magnitude. Based on the above discussion Table 2
is developed.
Parameter Value There are many reasons for large stator current harmonics
Reference flux 0.48 Wb in ST-DTC, such as supply voltage harmonics, width/level of
Flux band width 0.01Wb dead band, and inverter nonlinearity. However, for conven-
Torque bandwidth 0.1 Nm tional ST-DTC, harmonics presence in supply is the most sig-
Sampling frequency 10 kHz
nificant reason. Hence, a modified DTC algorithm described
Execution speed of PI loop 500 Hz
Encoder for motor shaft 1000 PPR in the following section mainly deals with the aim to reduce
these supply harmonics. In addition, the drive’s steady-state
TABLE 5. Parameter of DTC algorithms.
performance is influenced by the width of the hysteresis
bands in terms of flux and torque ripples. Since this work
tracks the command flux in a zigzag path but constrained
aims to reduce harmonic stator current and, these hysteresis
to the hysteresis band as shown in Figure 3. As ks follows
circular trajectories only in d-q plane, it introduces harmon- bands have a limited effect on the reduction of these current,
ics which are mapped on x-y plane. The stator flux refer- detailed analysis of these bands and its performance on drives
ence ks is compared with the calculated stator flux ks ; and has no scope here.
the flux error is sent to a hysteresis flux controller. The tor-
que reference Te is compared with the calculated torque Te 4. MODIFIED DTC ALGORITHM
and their difference is given to the input of hysteresis tor-
In comparison with the three-phase system, a six-phase sys-
que controller. The outputs of these two controllers are tor-
tem has more numbers of voltage vectors which provide
que status dTe and flux status dk and they are defined as:
8 flexibility in selecting switching vectors, thus accomplish
>
< 1; Torque to be increased more precise control of the stator flux and torque. From Eq.
dTe ¼ 1; Torque to be decreased (2), controlling stator flux on x-y plane helps to minimize har-
>
:
0; Torque remain unchanged (13) monic current. A modified switching table DTC for SPIM is
(
1; Flux to be increased introduced in [23, 25]. These algorithms require additional
dk ¼ computation of x-y flux which increases their computation
0; Flux to be decreased:
time and complexity. In these papers [23, 25], selection of
Based on the status of flux error, torque error and orien- large and medium-large vectors on d-q plane is implemented
tation of stator flux for counter-clockwise rotation of the based on the position of flux in x-y plane. These vectors
 Shaikh Mo et al.: Modified Switching Table-Based Direct Torque Control of Six-Phase Induction Motor Drive 1083

FIGURE 5. Steady state results of conventional DTC: (a)
Stator current of phase-a1, (b) FFT spectrum of phase-a1
current, (c) electromagnetic torque, (d) stator fluxes in d-q
and x-y planes (upper trace) and stator flux in x-y plane
(bottom figure is in expanded scale).
FIGURE 6. Steady-state results of modified DTC: (a)
Stator current of phase-a1, (b) FFT spectrum of phase-a1
current, (c) electromagnetic torque, (d) stator fluxes in d-q
and x-y planes (upper trace) and stator flux in x-y plane
(bottom figure is in expanded scale).
1084 Electric Power Components and Systems, Vol. 47 (2019), No. 11-12
FIGURE 7. Steady-state performance of conventional DTC
and modified DTC at a different speed, load torque: 6 Nm.
(a) THD of phase current and (b) torque ripple. Different
loading condition and machine speed: 900 rpm. (c) THD of
phase current and (d) torque ripple.
transformation from medium-large vector to a large vector or
vice versa requires two sampling times. Furthermore, these
algorithms couldn’t assure the volt-sec balancing time
between these two vectors, to maintain the average value of
x-y components to zero. Because the time required for a spe-
cific vector depends on hysteresis band in ST DTC.
The aim of this paper is to introduce a simple ST-DTC
algorithm to reduce the harmonics in SPIM. Both large and
medium-large vectors are applied to maintain zero average
value of harmonics in x-y plane. For example, when the
flux vector lies in sector 1 and if both the flux and torque
are required to be increased, voltage vector V60 and V24 are
applied in one sampling interval. As shown in Figure 4,
both the vectors are on the same axis and in phase in d-q
plane, so their effect on a resultant vector is identical
except its magnitude. Large vector V60 results into larger
magnitude and fast dynamic response compared to vector
V24. While in x-y plane these two vectors are in phase
opposition as shown in Figure 4(b). The position of these
vectors in the x-y plane helps to obtain zero average value,
if the following constraints are satisfied:
Tl jVs j ¼ Tm jVm j: (14)
By solving, times for active space vectors are obtained as
jVm j
Tl ¼ TS (15)
jVm j þ jVs j
jVs j
Tm ¼ TS (16)
jVm j þ jVs j
Solving numerical values show that 73.2% of the appli-
cation time (Tl) of active space vectors is applied to large
space vectors V60, while 26.7% of the time (Tm) is applied
to medium-large space vector V24. Hence, the average
value of the resultant vector, also called a virtual vector,
on d-q plane is reduced to 0:595  Vdc : While average value
of this resultant vector on x-y plane is zero and harmonic
content in the stator is reduced. Reduction of DC bus util-
ization compared to conventional DTC can be obtained by
solving (17), in d-q plane:
jVl j  Tl þ jVm j  Tm
DC bus utilization ¼ ¼ 92:7% (17)
jVl j  Ts
In the modified ST-DTC technique, total 24 active volt-
age vectors are employed as shown in Table 3. The identi-
fication of sectors, definitions of torque status and flux
 Shaikh Mo et al.: Modified Switching Table-Based Direct Torque Control of Six-Phase Induction Motor Drive 1085

FIGURE 9. Dynamic performance during step change in

load (a) conventional DTC and (b) modified DTC.

FIGURE 8. Dynamic performance during speed reversal status are the same as used in conventional DTC. The
(a) and (b) conventional DTC, (c) and (d) modi- switching table of conventional DTC is modified based on
fied DTC. the above discussion.
1086 Electric Power Components and Systems, Vol. 47 (2019), No. 11-12

FIGURE 10. Experimental test setup.

5. IMPLEMENTATION OF
CONTROL ALGORITHM
In this section, simulation studies of both conventional DTC and
modified DTC algorithms have been discussed and results are
compared. The parameters of SPIM and control algorithms for
simulation and hardware test setup are listed in Tables 4 and 5,
respectively.
Figures 5 and 6 show the simulation results of conventional
and modified DTC algorithms. In a steady state condition, the
SPIM is operated at 900 RPM and 6 Nm loading. The FFT
results show that harmonic of the order 6k ± 1 (k ¼ 1, 3, 5 … )
is present in the stator when the machine is operated using
conventional DTC. In x-y plane, stator flux has significant
value due to control only in the d-q plane which results in the
substantial value of stator current. By using a modified algo-
rithm stator current THD and magnitude of the flux in the x-y
plane reduce significantly. This is due to the control of stator
flux in x-y plane as shown in Figure 6(d). The results of torque
ripple show that there is a marginal reduction in the modified
algorithm compared to the conventional algorithm.
The performances of these two methods are further
extended by obtaining stator current THD and torque ripple
at various operating speed as shown in Figure 7. The tor-
que ripples are calculated using:
sffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
1X n
Te ripple ¼ ðTe i Te av Þ2 (18)
n i¼1

The performances of these two methods are also compared

by obtaining stator current THD and torque ripple at various
loading condition. Figure 7 shows the plots of obtained results
during various loading condition. It can be seen from Figure 7
that modified DTC can significantly reduce THD and also
some reduction in torque ripple is observed.
FIGURE 11. Experimental results of conventional DTC: (a)
phase current and FFT spectrum of phase-a1 current, (b) phase cur-
rents ia1 and ia2 in x-y plane (c) stator flux and (d) machine speed.
 Shaikh Mo et al.: Modified Switching Table-Based Direct Torque Control of Six-Phase Induction Motor Drive
FIGURE 12. Experimental results of modified DTC:(a) phase
current and FFT spectrum of phase-a1 current, (b) phase currents
ia1 and ia2 in x-y plane (c) stator flux and (d) machine speed.
Figure 8 shows the dynamic performance of both the meth-
ods when speed reversal command is applied to SPIM. It is
observed that both the algorithms have similar dynamic per-
formance and get back to reference speed in less than 0.2 sec.
Figure 9 illustrates the response of motor speed and phase cur-
rent obtained while sudden step change in load is applied. As
1087
FIGURE 13. Dynamic response of modified DTC algo-
rithm: (a) commanded speed, machine speed and phase cur-
rent, (b) machine speed and torque.
can be seen, both the algorithms have satisfactory dynamic
performance during a step change in load torque.
The experimental test setup is shown in Figure 10. Both
of DTC algorithms are implemented on the STM32F407
controller board. DTC algorithms are tested on 1.5 kW,
200 V, 50 Hz, and 4 pole SPIM. In experimentation, the
sampling frequency is set to 5 kHz for both the algorithms.
Figures 11 and 12 show the experimental results of both the
DTC algorithms at 900 rpm rotor speed and 0.38 wb reference
flux. The other parameter values are same as in simulation and
are listed in Table 4. Figure 11(a) shows the phase-a1 current of
SPIM, measured using a hall effect sensor. As mentioned, there
is a large stator current due to 5th and 7th harmonics present in
the stator. This is because only d-q components are regulated.
While large harmonic currents associated with x-y components
are freely circulated inside the machine (Figure 11(b)). As shown
in Figure 12(a), current THD as expected reduces significantly
in the modified DTC case. This validates the reduction of current
in x-y plane using the modified algorithm (Figure 12(b)). In both
the algorithms, generated flux and machine speed trace the
1088 Electric Power Components and Systems, Vol. 47 (2019), No. 11-12
reference flux and speed within the tolerated band as shown in
Figures 11 and 12(c–d).
Both algorithms have nearly similar performance charac-
teristics in a dynamic condition. The dynamic response of
the modified DTC algorithm is presented in Figure 13.
Dynamic performance of the machine can be analyzed by
applying step change in the commanded value of speed.
Motor’s torque, stator current, and speed response are
obtained in case of a step change of commanded speed with
rated load torque. As shown in the figure, commanded speed
changes at every 15 sec in sequence and at rated load of the
motor and current and speed response is observed with scan
mode of oscilloscope as shown in Figure 13(a). It is observed
that the dynamic response is satisfactory, and the system
achieves the set value in less than 2 sec. Figure 13(b) is the
response of motor torque during step response of speed on
the same time axis describe. From these results, it can be
concluded that the modified DTC algorithm can preserve
good robustness during a dynamic performance.
6. CONCLUSION
To improve the dynamic performance of six-phase induction
motor, conventional direct torque control (DTC) is imple-
mented. This method suffers large stator current harmonics
of the order (6k ± 1, k ¼ 1, 2, 3 … ) which leads to higher sta-
tor loss and poor efficiency. This paper presents a modified
switching table to minimize stator current harmonics in the
x-y plane. The modified DTC technique uses large and
medium-large voltage vectors in each sampling period, to
minimize the stator current harmonics. Furthermore, it
improves DC bus utilization in comparison with other modi-
fied ST-DTC techniques. From the obtained results, it is
found that the modified control strategy is simple to imple-
ment, more efficient, robust, and less sensitive to parameter
variation and provides satisfactory dynamic performance.
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BIOGRAPHIES
Mo. Suhel Shaikh received the B.E. in Electrical
Engineering from Veer Narmad South Gujarat University,
Surat, Gujarat in 2006 and M.Tech in Industrial Electronics
from Sardar Vallabhbhai National Institute of Technology
Surat, Gujarat, India, in 2010, where he is currently work-
ing toward the Ph.D degree in the Electrical Engineering.
He is currently working as an assistant professor in the
electrical engineering department, at Sarvajanik College of
Engg. And Tech., Surat, Gujarat, India. His research inter-
ests include multiphase induction motor, and power elec-
tronics converter for drives application.
Rakesh Maurya received the B. Tech. degree in electrical
engineering from the Kamla Nehru Institute of Technology,
Sultanpur, India, in 1998, and the M. Tech. degree in power
electronics and electric drive and the Ph. D. degree in elec-
trical engineering from the Indian Institute of Technology
Roorkee, Roorkee, India, in 2002 and 2014, respectively. He
is currently a Faculty Member with the Department of
Electrical Engineering, Sardar Vallabhbhai National Institute
of Technology, Surat, India. His research interests include
design of switching power converters, high power factor AC/
DC converters, hybrid output converters, improved power
quality converters for battery charging applications, power
quality problems, advanced electric drives and applications of
real-time simulator for the control of power converters.
Nitin Gupta graduated in Electrical Engineering from
Government Engineering College Kota, in 2000. He did his
Master of Engineering in Power Electronics in 2008 from
College of Technology and Engineering (CTAE), Udaipur
and Ph.D. degree in Electrical Engineering from Indian
Institute of Technology (IIT) Roorkee, Roorkee as full-
time research scholar under MHRD in 2012. Presently, he
is Assistant Professor in the Department of Electrical
Engineering, Malaviya National Institute of Technology
(MNIT), Jaipur. His areas of interest are power electronics
& drives, power quality, renewable energy grid integration,
active power filters, multilevel inverters etc.