16-1

Chapter 16

Direct Torque Control (DTC) and

Encoder-less Operation of Induction
Motors

2020 by N. Mohan
 16-2
DTC System Overview


* * Vd  q
 mech Tem a Measured Inputs: Stator Voltages
 PI 
   and Currents
 mech  Tem
Selection qb
ˆ*
s  of Estimated Outputs: 1)
  
ˆs
vs
qc
Torque, 2) Mechanical Speed,
 s 3) Stator Flux Amplitude and
4) its angle
ic ib ia
Estimator

IM

2020 by N. Mohan
 16-3
Principle of DTC Operation


s (t ) 
vs T

s (t  T )

s r (t )  r (t  T )
r  rA Rotor A-axis

m
a-axis

p Lm ˆ ˆ
Tem    sin  sr
2 s r
2 L
 sr   s   r

2020 by N. Mohan
 16-4

Calculation of Stator Flux:

 d   t  
s (t )  s (t  T )   (vs  Rs is )  d  ˆse j s

vs  Rs is  s
dt

t T
Calculation of Rotor Flux:
Estimating Mechanical Speed:
 Lr 
r  (s   Ls is )  ˆr e j r
Lm d  r (t )   r (t  T )
r  r 
2 dt T
where   1  Lm
Ls Lr
2  3 Tem 
 slip   Rr 2 
Estimating Torque:
p  2 ˆr 
p conj   m   r   slip
Tem  Im(s is )
2
 mech  (2 / p)  m
2020 by N. Mohan
 16-5
Inverter Basic Vectors and Sectors

b-axis 
 v3 (011)
v2 (010)

3 2

 
v6 (110) v1 (001)
a-axis
1
4

6
5
 
v4 (100) v5 (101)
c-axis

2020 by N. Mohan
 16-6
Stator Voltage Vector
Selection in Sector 1

 
v2 v3

s
 
sector 1 v6 v1
 
v4 v5

2020 by N. Mohan
 Selection of the Stator Voltage Space Vector 16-7

b-axis 
 v3 (011)
v2 (010)

3 2

Effect of Voltage Vector on the Stator


v6 (110)

v1 (001) Flux-Linkage Vector in Sector 1.
a-axis
1
4

6
5
 
v4 (100) v5 (101)
c-axis

 
v2 v3

s
 
sector 1 v6 v1
 
v4 v5

2020 by N. Mohan
 Effect of Zero Stator Voltage Space Vector 16-8


s (t )  s (t  T )

r (t )
s r (t  T )
r  rA Rotor A-axis at t
Rotor A-axis at t-t
m
 m
a -axis

 s 0 sin  sr  ( s   r )

 rA 0 Tem k ( s   r )

 r   m   rA  m Tem  k ( m )

2020 by N. Mohan
 16-9
Simulink Model of DTC

2020 by N. Mohan
 16-10
Simulink Model of DTC
Simulation Results

2020 by N. Mohan
 16-11
Simulink Model of DTC
Simulation Results

2020 by N. Mohan
 16-12
Simulink Model of DTC
Simulation Results

2020 by N. Mohan
 16-13
Simulink Model of DTC
Simulation Results

2020 by N. Mohan