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International Conference on Man Machine Systems (ICoMMS 2021) IOP Publishing
Journal of Physics: Conference Series 2107 (2021) 012052 doi:10.1088/1742-6596/2107/1/012052

Direct torque control of induction motor with different energy

storage for electrical vehicle (EV) application

M. A. Aazmi1, M. I. Fahmi1,2, M. Z. Aihsan1,2, H. F. Liew1,2, M. Saifizi1

1
Faculty of Electrical Engineering Technology, University Malaysia Perlis (UniMAP),
Malaysia.
2
Electric Vehicle Energy Storage System (eVess) Research Group, Center of Excellence
Renewable Energy (CERE), Universiti Malaysia Perlis, Kampus Tetap Pauh Putra,
02600 Arau, Perlis, Malaysia.

izuanfahmi@unimap.edu.my

Abstract – Energy demand worldwide is rising at an unprecedented pace. This has already
shown its impact on the depletion of energy sources and environmental issues (global warming
and the weakening of the ozone layer). This growing pattern of energy insufficiency will, of
course, intensify in the future. Referring to the literature, significant energy savings can be
achieved by controlling the speed of the electric motor system using variable frequency drives
(VFDs). Efficient control of induction motor drives provides an excellent opportunity for energy
savings. As a result, research into the optimal operation of induction motor drives is escalating
and mainly focuses on the Direct Torque Control (DTC) control technique on improving the
dynamic operation of torque control. However, the study on the type of energies on improving
the dynamic response is least reported. This paper will study the effect of different energy
supplies on the dynamic response of torque performance. The standard DC battery and
supercapacitor will be used to energize the induction motor through the three-phase inverter and
controlled with the DTC control scheme. The results are validated through MATLAB Simulink
and it shows the supercapacitor has the better dynamic response in torque response compared to
the standard DC battery. The comparative results are presented in a proper mannered way.

1. Introduction

The main features of an electric vehicle drive system must have high instant power and high-power
density. Besides that, the characteristics of an electric vehicle that needed to be considered are high
torque at low start and climb speeds, as well as high power at high cruising speed and fast torque
response [1]– [3]. Thus, the selection of suitable drive and control system are the most important factors
in electric vehicle [4], [5]. Moreover, effective energy management is the other element of an electric
vehicle. Based on the electric motor characteristic of its robustness, low price, mature technology and
maintenance-free operation, the induction motor (IM) is the best option for electric vehicle applications.
In the point of view of the control device the control method is the key to improving motor performance,
lengthening battery life and thereby increasing the driving distance [6],[7]. Sensor-less control as a
variable frequency drive is today the mature technology between different motor drives. The sensor-less
control is ideal for critical applications such as electric vehicle and has reliability, increased performance
and energy savings advantages [8]. Two most common methods of sensor-less control are field oriented
control (FOC) and direct torque control (DTC) for induction motor. Unlike FOC, DTC needs no

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International Conference on Man Machine Systems (ICoMMS 2021) IOP Publishing
Journal of Physics: Conference Series 2107 (2021) 012052 doi:10.1088/1742-6596/2107/1/012052

coordinate transformation, pulse width modulator (PWM) signal generators, current controllers and a
position encoder that causes delays and includes a mechanical transduction.

There were three main disadvantages that need to be highlight in using this control technique. Firstly,
FOC model is complex because FOC requires transition synchronization, PWM generator, and current
regulator. Besides that, FOC is very sensitive to their motor parameter and it produce delay to the torque
response while using PI controller. Due to that delay, high ripple torque and current dynamic response
become slow [8]. These difficulties can be overcome by using DTC technique. Regardless of its control
complexity is simple, DTC provides a very effective torque control technique in transient response and
steady-state response [9]. Contrarily to FOC, DTC does not require transition synchronization, PWM
generator, and current regulator [10]. Besides that, DTC is less sensitive to the motor parameter
compared to FOC technique. Although this technique improves from FOC technique, it also suffers
difficulties on applying this technique. At very low speed, DTC has problem with the torque and flux
control [11]. Moreover, it provides non uniform level of noise with low frequency which makes current
and torque distortion at very low speed. DTC has difficulties in control on machine current and
synchronizing variable switching frequency [12]-[14]. In this paper, the focus is to measure and
observed the performance dynamic response of torque when using the DC battery and the supercapacitor
using the basic control structure of DTC. This is due to the supercapacitor is well known on supplying
a better instantaneous current compared to the DC battery.

2. Methodology

2.1. Block Diagram of Direct Torque Control

The block diagram of the direct torque control (DTC) configuration with induction motor is shown in
Figure 1. In understanding the control structure of DTC, it is better to begin with three-phase induction
motor because single-phase induction motor is similar to three-phase induction motor. Although the
control structure of those motor is similar, however, they have different voltage vector due to different
topology of inverter used. In control structure three-phase induction motor of DTC has the stator flux
and electromagnetic torque that been controlled independently by applying two-level and three-level
hysteresis comparators as shown in Figure 1. An appropriate voltage vector is chosen from the look-up
table based on the flux error and torque error status, in which the VSI to control the TPIM is activated
in turn. The basic concept in DTC is to choose the optimal voltage vector based on the stator flux and
the torque, and the flux angles rotate the flux to produce the desired output torque. The stator flux angle
for the output voltage sector is separated equally by 6 sectors by 60° each. The DTC switching table
generates a logic signal based on the three inputs which are Sa, Sb and Sc that are used to enable the
switches in the VSI to operate the motor. The output from the three-phase VSI is the input for the
induction motor stator. The VSI selects the stator vector based on the output of the hysteresis band and
the stator flux band.

The variation in stator flux is corresponding to the voltage vectors as the resistive voltage drop is
relatively small. In order to obtain a circular stator flux, two active voltage vectors will be applied in
each sector, either to increase or decrease the stator flux as shown in Figure 2. As depicted in Figure
2(b), in sector 1, V2 is applied to increase the stator flux whereas V3 is employed to decrease the stator
flux. Both of V2 and V3 are capable to increase the electromagnetic torque. In order to decrease the
torque, both V5 and V6 are applied. When decreasing the torque, V6 is activated to increase the stator
flux while V5 is implemented to decrease the stator flux. A suitable voltage vector to satisfy the stator
flux and electromagnetic demands is constructed in Table 1.

2
International Conference on Man Machine Systems (ICoMMS 2021) IOP Publishing
Journal of Physics: Conference Series 2107 (2021) 012052 doi:10.1088/1742-6596/2107/1/012052

Figure 1. Direct Torque Control Structure

Figure 2. Active voltage vector(a) in each sector, (b) to control stator flux [13]

Table 1. Look-up table of voltage vector for DTC

Stator Torque Sector 1 Sector 2 Sector 3 Sector 4 Sector 5 Sector 6
flux error error status
status
1 1 V2 V3 V4 V5 V6 V1
0 V0 V7 V0 V7 V0 V7
-1 V6 V1 V2 V3 V4 V5
0 1 V3 V4 V5 V6 V1 V2
0 V7 V0 V7 V0 V7 V0
-1 V5 V6 V1 V2 V3 V4

3
International Conference on Man Machine Systems (ICoMMS 2021) IOP Publishing
Journal of Physics: Conference Series 2107 (2021) 012052 doi:10.1088/1742-6596/2107/1/012052

2.2. Simulation Model of DTC using MATLAB Simulink

The system of DTC is modeled using MATLAB Simulink as in Figure 3 together with the induction
motor as the load. The simulation model consists of function subsystem block including flux controller
block, torque controller block, switching table block, DC-AC converter block and stator flux linkages
block. The bandwidth of hysteresis controller for flux is 0.005 Wb, which depend on the accuracy
requirement for control performance that also can be adjusted. The bandwidth of hysteresis controller
for torque is 0.01 Nm. The specification of the 3-phase induction motor used is 2.2kW, 1100rpm, 4 poles
with frequency of 50hz and rated voltage 400V.

Figure 3. Simulation Model of Direct torque Control of Induction Motor

3. Results and Discussion

The selected measurement for the study is focusing on the electromagnetic behavior and the stator
current reading when using the battery and the supercapacitor. The system is introduced with the load
disturbance after 0.2 seconds as to evaluate the performance dynamic response of the direct torque
controller.

3.1. Application of battery as the main storage

The system is first tested with the DC battery as the main storage to observe the behavior of torque
during acceleration zone as the standard DC battery has limitation on supplying the instantaneous
current. Figure 4 shows the electromagnetic torque and during the acceleration zone, the torque rise and
drop down drastically into -50 Nm before it starts to operate in stable condition before the disturbance
is given. During the disturbance, the torque started to perform dynamic operation to a new desired
torque, and it can be seen there is a small spike before it starts to regulate again. This phenomenon is
due to the charging and discharging rate of battery is slow if compared to the supercapacitor. Figure 5
shows the stator current behavior during the dynamic response of torque. During the disturbance, the
current is distorted less than a second and it reach the steady state condition and very less in noise.

4
International Conference on Man Machine Systems (ICoMMS 2021) IOP Publishing
Journal of Physics: Conference Series 2107 (2021) 012052 doi:10.1088/1742-6596/2107/1/012052

Figure 4. Electromagnetic Torque using DC Battery vs Time.

Figure 5. Stator Current for the Battery Performance vs Time

3.2. Application of supercapacitor as the main storage

Next, the system is tested with the supercapacitor as the main storage. Figure 6 shows the acceleration
zone torque when using the supercapacitor. It can be observed that the instantaneous of torque now are
fast response with instant movement during the startup and during the sudden drop, it just drops to -20
Nm while for DC battery it drops until -50Nm. The load started to operate at -10Nm in stable condition
before the disturbance at 0.2 second. During the disturbance, the dynamic operation to a new desired
rated torque also smooth and very instant with small spike if compared to the DC battery previously.
However, there torque started to become unstable after 0.3 second.

5
International Conference on Man Machine Systems (ICoMMS 2021) IOP Publishing
Journal of Physics: Conference Series 2107 (2021) 012052 doi:10.1088/1742-6596/2107/1/012052

Figure 6. Electromagnetic Torque using Supercapacitor vs Time

Figure 7. Stator Current for the Supercapacitor Performance vs Time

Figure 7 shows the stator current behavior during the dynamic response of torque when using
supercapacitor. During the disturbance, the current is distorted is much more lesser than the battery
performance. However, after 0.3 seconds the current pattern started to create noise due to the torque are
not regulate as mentioned in Figure 7. At starting condition, when the motor is subjected to load that is
set in the mechanical load. The fluctuations in which high starting current occurred in the signal and
after that supercapacitor gave the supply and the high starting currents are reduced.

4. Conclusion

The results show the comparisons of torque and current behavior between the DC battery and the
supercapacitor. It can be concluded that the supercapacitor has the better instantaneous reaction to
improve the dynamic performance of torque response. However, after the dynamic operation, it started
to become unstable and started creating ripple in the torque.

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International Conference on Man Machine Systems (ICoMMS 2021) IOP Publishing
Journal of Physics: Conference Series 2107 (2021) 012052 doi:10.1088/1742-6596/2107/1/012052

Acknowledgement

The authors would like to acknowledge the support from the Fundamental Research Grant Scheme
(FRGS) under a grant number of FRGS/1/2020/TK0/UNIMAP/02/81 from the Ministry of Education
Malaysia.

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International Conference on Man Machine Systems (ICoMMS 2021) IOP Publishing
Journal of Physics: Conference Series 2107 (2021) 012052 doi:10.1088/1742-6596/2107/1/012052

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