International Conference on Electrical, Electronics, and Optimization Techniques (ICEEOT) - 2016

DTC-SVM of Induction Motor by Applying Two Fuzzy

Logic Controllers
Jagan Mohana Rao Malla, Dr. Manoj Kumar Sahu and Prof. P K Subudhi

Abstract: - Among all control methods for induction motor drives generate the exact stator voltage required to produce the desired
(IMD), Direct Torque Control (DTC) seems to be particularly changes in torque and flux, torque and flux ripples compose a
interesting being independent of machine rotor parameters. In spite real problem in DTC induction motor drive. Classic DTC makes
of its simplicity, DTC allows good torque control in both steady and use of hysteresis comparators with torque and stator flux
transient state. DTC drives utilizing hysteresis comparators suffer
magnitude errors as inputs to decide which stator voltage vector
from high torque ripple and variable switching frequency. Major
drawback of Classical DTC is high torque & flux ripples. The most is applied to motor terminals. The complex plane is divided in
common solution to this problem is to use Space Vector Modulation six sectors, and a switching table is designed to obtain the
(SVM) depends on the reference torque and flux. In this Paper two- required vector based on the hysteresis comparators outputs.
fuzzy controller along with the SVM technique is applied to Due to fast time constants of stator dynamics it is very difficult
inverter. The proposed two-fuzzy based DTC-SVM-IMD system, to keep machine torque between the hysteresis bands. This can
thereby dramatically reducing the torque ripple. Fuzzy-PI be done either by increasing the sampling frequency as in, thus
Controller to achieve precision speed control and Fuzzy Logic Duty increasing switching frequency, commutation losses and
Ratio Control is used to minimize torque & flux ripple. When computation requirements, or using multilevel power converters.
Fuzzy Logic is used for the on-line tuning of the PI controller, it
receives scaled values of the speed error and change of speed error.
Its output is updating in the PI controller gains based on a set of
rules to maintain excellent control performance even in the
presence of parameter variation and drive non-linearity. These
advantages allow implementing DTC–SVM-IMD with fuzzy for
electric vehicles.

Keywords: - Direct Torque Control, Fuzzy Controllers, SVM,

and Induction Motor Drive.

I. INTRODUCTION
Direct torque control (DTC) is receiving wide attention in the
recent literature. The DTC uses the hysteresis band to directly
control the flux and torque of the machine. When the stator flux
falls outside the hysteresis band, the inverter switching stator is
changed so that the flux takes an optimal path toward the desired
value [1]. The name direct torque control is derived from the
fact that on the basis of the errors between the reference and the
Fig: 1. Block diagram of DTC-SVM
estimated values of torque and flux it is possible to directly
control the inverter states in order to reduce the torque and flux The use of hysteresis comparators in classic DTC
errors within the prefixed band limits. The block diagram of implementations give rise to variable switching frequency,
classical DTC-SVM is shown in fig (1). which depends on rotor speed, load, sample frequency, etc. This
variable switching frequency may excite resonant dynamics in
The main advantages of DTC are robust and fast torque the load and hence constitute a serious drawback of DTC.
response, no requirements for coordinate transformation no Generally there are two methods to reduce the torque and flux
requirements for PWM pulse generation and current regulators ripple for the DTC drives. One is multi level inverter; the other
[3, 6]. The major disadvantage of the DTC drive is the steady is space vector modulation (SVM) [11, 12]. In the first method,
state ripples in torque and flux [7]. The pulsations in flux and the cost and the complexity will be increased, in the second
torque affect the accuracy of speed estimation. It also results in method, the torque ripple and flux ripple can be reduced,
higher acoustical noise and in harmonic losses. A Torque ripple however the switch frequency still changes. Most of these
analysis since none of the inverter switching vectors is able to methods are computationally intensive. In the next section a

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fuzzy approach is proposed to reduce torque ripple [2]. This goal x Increased efficiency
is achieved by the fuzzy controller which determinates the x Low acoustic noise
desired amplitude of torque hysteresis band. x Operates at a lower switching frequency compared to
the existing methods.
II. PROPOSED WORK x Reduces computation burden.
A fuzzy controller is introduced to allow the performance of By using these two fuzzy controllers we achieve good speed
DTC scheme in terms of flux and torque ripple to be improved. and torque responses. After out puts of this fuzzy controllers
The speed regulators are conventional PI controllers (CPIC), (after defuzzification) we generate Vsx and Vsy, again converted
which requires precise math model of the system and this X-Y coordinate components to α-β components. By using
appropriate value of PI constants to achieve high performance this values generate 6 pulses with the help of Space Vector
drive. Therefore, unexpected change in load conditions or Modulation (this is describes in section IV).
environmental factors would produce overshoot, oscillation of
the motor speed, oscillation of the torque, long settling time and IV. DTC CONTROLLER
causes deterioration of drive performance. The way to impose the require stator flux is by means of
The selected voltage vector is applied for the entire switching choosing the most suitable Voltage Source Inverter state. If the
period, and thus allows electromagnetic torque and stator flux to ohmic drops are neglected for simplicity, then the stator voltage
vary for the whole switching period. This causes high torque and impresses directly the stator flux in accordance with the
flux ripples. To overcome these problems in DTC, two fuzzy following equations 1 and 2:
controllers are widely analyzed in literature. Those are:
1. Fuzzy PI Controller (FPIC) to achieve precision speed
control
2. Fuzzy Logic Duty Ratio Control (FLDRC) to minimize ………………………………..1
torque & flux ripple
When Fuzzy Logic is used for the on-line tuning of the PI
controller, it receives scaled values of the speed error and
change of speed error. Its output is updating in the PI controller ………………………………..2
gains based on a set of rules to maintain excellent control
performance even in the presence of parameter variation and
drive non-linearity. The proposed DTC-SVM with Fuzzy system Decoupled control of the stator flux modulus and the torque is
is shown in fig2. achieved by acting on the radial and tangential components
Block diagram of the method with close-loop torque and flux respectively of the stator flux-linkage space vector in its locus.
control in stator flux coordinate system is presented in Fig. 2. These two components are directly proportional (Rs =0) to the
The output of the PI flux and torque controllers can be components of the same voltage space vector in the same
interpreted as the reference stator voltage components Vsx, Vsy directions. Figure 3 shows the possible dynamics locus of the
are the stator flux oriented coordinates (x − y). stator flux, and its different variation depending on the VSI
Design of Fuzzy Logic Controller is depend on Selection of states chosen. The possible global locus is divided into six
input variables, Selection of output variable, Number of fuzzy different sectors signaled by the discontinuous line.
controllers, Selection of Membership functions and Selection of In accordance with Figure 3, the general Table 1 can be
defuzzification. Here, we had taken two fuzzy controllers for written. It can be seen from Table 1 that the states V k and Vk+3,
torque and flux, triangular membership and centroid are not considered in the torque because they can both increase
defuzzification. (first 30 degrees) or decrease (second 30 degrees) the torque at
the same sector depending on the stator flux position.
FD/FI: flux decrease/increase. TD/T/TI: torque decrease/
III. FUZZY PROPOSED APPROACH AND TORQUE RIPPLE
equal/increase. Sx: stator flux sector. Φ: stator flux modulus
MINIMISATION
error after the hysteresis block. τ: torque error after the
FPIC does bellow works: hysteresis block.
x Dynamically adjusts the gains kP and kI to ensure the The sectors of the stator flux space vector are denoted from S1
stability of system over wide torque-speed range to S6. Stator flux modulus error after the hysteresis block (Φ) can
x Swift speed response take just two values. Torque error after the hysteresis block (τ)
x Less overshoot and can take three different values. The zero voltage vectors V 0 and
x Extremely small steady state errors V7 are selected when the torque error is within the given
hysteresis limits, and must remain unchanged. This is shown in
FLDRC does bellow works table 2.
x Minimizes torque & flux ripples effectively

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 ω*

Vdc
PI T* Vsx
Fuzzy SVM
Controller
ω T
x-y Vα Induction
Inverter
Ψ* to Motor
α-β Vβ
θ
Vsy
Fuzzy
Ψ
ABC to αβ

Vdc
Iα
Flux, Torque and Iβ
θ estimator
ωr
Fig: 2 proposed DTC-SVM model

Table 1: General Selection Table for Direct Torque Control, being “k” the
sector number.

Finally, the DTC classical look up table is as follows:

Fig: 3 Stator flux vector locus and different possible switching voltage
vectors.

Table 2: Look up table for Direct Torque Control.

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 V. RESULTS
In this paper, presents results of torque, speed and flux trajectory
of DTC SVM with Two-fuzzy controllers of Induction motor.
Fig. 4 shows response of reference and generated Torque. In this
Simulink from time 1.0 to 1.3 sec. the reference torque is 5 Nm,
from time 1.3 to 1.8sec. the motor reference torque is 8nm and
from 1.8 to 2 sec. we applied reference torque is 3Nm. Here
generated torque is always follows reference torque, at this time
induction motor speed is follow as reference speed (80 rad/s) it
is shows in fig5. The flux trajectory wave is very smooth curve
shows in fig6. The data of fuzzy and motor parameters are
presented in appendix (table-4). From the stator flux trajectory,
it is appreciated that the flux ripple decreases when fuzzy
controller is in use.

Reference Torque and Generated Torque

10
Reference
Fig: 6: Stator Flux Trajectory.
8
VI. CONCLUSION
6 The present paper has presented a DTC drive with fuzzy
Torque

controller. This controller determinates the desired amplitude of

4 Generated torque hysteresis band. It is shown that the proposed scheme
results in improved stator flux and torque responses under steady
state condition. The main advantage is the improvement of
2 torque and flux ripple characteristics at any speed region; this
provides an opportunity for motor operation under minimum
switching loss and noise. These advantages allow implementing
0
1 1.2 1.4 1.6 1.8 2 DTC–SVM with fuzzy controllers for electric vehicles; because,
Time 4
x 10
mainly electric vehicles need high starting torque so this is
Fig: 4: Reference Torque and Generated Torque. produce the required torque with minimum torque ripples.
Speed response of proposed model Appendix
100
Reference Fuzzy proposed approach to reduce torque ripple, the fuzzy
logic has been proved powerful and able to resolve many
80
problems. A fuzzy controller seems to be a reasonable choice to
evaluate the amplitude of torque hysteresis band according to the
Speed (rad/s)

60 82 torque ripple level. In this paper, the amplitude of torque

Motor speed
81 hysteresis band is not prefixed but it is determinate by a fuzzy
80 controller. Based on the analysis given in sections (I, II and III),
40
79 two inputs are chosen, speed error variation and stator flux
78
1 1.3 1.5 1.8 2
variation. This is shown in bellow equations 3 and 4.
20 x 104
…………..3
0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2 ….………….4
Time 4
x 10
Fig: 5: Reference speed and Generated Speed. The magnitude of the stator flux is defined as
…………………………………5

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From equation 6, the crisp output ∆b (incremental amplitude of
torque hysteresis band) is integrated in such way that the Table:4 parameters of induction motor
amplitude of torque hysteresis band is obtained:

……………6

The fuzzy controller design is based on intuition and simulation.

For different values of motor speed and current (flux), the values
reducing torque and flux ripple were found. These values
composed a training set which is used to extract the table rule.
The shapes of membership functions are refined trough
simulation and testing. The rules sets are shown in Table 2.
Figure shows the membership functions of input and output
variables. The rules were formulated using analysis data
obtained from the simulation of the system using different
values of torque hysteresis band. If the amplitude∆ b is set too
small, the overshoot may touch the upper band which will cause
a reverse voltage vector to be selected. This voltage will reduce
rapidly the torque causing undershoot in torque response,
consequently the torque ripple will remain high. Table3. Fuzzy Fig: A1: KI fuzzy output function of flux fuzzy controller.
rules of torque hysteresis controller. References:
[1] Kazmierkowski, M. P. et al, “Review of Direct Torque Control Methods
for Voltage Source Inverter-Fed Induction Motors”, Conf. Rec. IEEE-IAS,
pp. 981–991, 2003.
[2] Grabowski, P. Z. et al, “A Simple Direct-Torque Neuro Fuzzy Control of
PWM-Inverter-Fed Induction Motor Drive”, IEEE Trans. On Industrial
Electronics 47 No. 4 (2000), 863–870.
[3] Depenbrock, M. “Direct Self Control of Inverter-Fed Induction Machine”,
IEEE Trans. Power Electron. 3 No. 4 (1988), 420–429.
[4] Habebtler, T. et al, “Control Strategies for Direct Torque Control of
Induction Machines Using Discrete Pulse Modulation”, IEEE Trans. Ind.
Applicat. (1991), 893–901.
[5] Takahashi, I. et al, “A New Quick-Response and High-Efficiency Control
Strategy for an Induction Motor”, IEEE Trans. Ind. Applicat. IA-22
(1986).
[6] Tiitinen, P, “The Next Generation Motor Control Method, DTC Direct
Table3: fuzzy rules. Torque Control”, Proc. Ind. Conf. Power Electronics, Drives and Energy
PH: positive high, NH: negative high, System for Industrial Growth, New Delhi, India, pp. 37–43, 1996.
PM: positive medium, NM: negative medium, [7] Marino, P. et al, “A Comparison of Direct Torque Control Methodologies
for Induction Motor”, Proc. IEEE Porto Power Tech conference PPT’01,
PS: positive small, NS: negative small, ZE: zero September, Porto, Portugal, 2001.
[8] Senthil, U. et al, “Hybrid Space Vector Pulse Width Modulation Based
Parameters of Induction Motor: Direct Torque Controlled Induction Motor Drive”, Proc in conf. Rec.
IEEE-IAS, pp. 1112–1117, 2003.
[9] Cascone, V. et al, “Three Level Inverter DSC Control Strategy for Traction
parameter Value Drives”, Proc. Of 5rd European Conf. On Power Electronics and
Applications, Firenze, Vol. 1, pp. 135–139, 1989.
[10] Casadei, D. et al, “The Use of Matrix Converters in Direct Torque Control
Stator Resistance (Rs) 7.83 Ω of Induction Machines”, IEEE Trans. On Ind. Electron. 48 No. 6 (2001),
Rotor Resistance(Rr) 7.55 Ω 1057–1064.
[11] Kang, J. K. et al, “Torque Ripple Minimization Strategy for Direct Torque
Stator Inductance (Ls) 0.4751 H Control of Induction Motor”, Conf. Rec. IEEE-IAS Annu. Meeting’98, pp.
Rotor Inductance (Lr) 0.4751 H 438–443 1998.
Mutual Inductance (M) 0.4535 H [12] Lascu, C. et al, “A Modified Direct Torque Control (DTC) for Induction
Motor Sensorless Drive”, Proc. Of Conf. Rec. IEEE, pp. 415–422, 1998.
Number of poles (p) 4
Inertia (J) 0.07
Friction (B) 0.001
DC Link Voltage (Vdc) 310V

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