International Journal on Future Revolution in Computer Science & Communication Engineering ISSN: 2454-4248

Volume: 5 Issue: 12 05 – 12
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A Comparative Analysis of Field Oriented Control and Direct Torque Control of
Induction Motor Drive

Prof. N. D. Mehta Dr. A. M. Haque Dr. M. K. Shah

Assistant Professor Assistant Professor Associate Professor
Vishwakarma Government Engineering Vishwakarma Government Engineering Vishwakarma Government Engineering
College, Chandkheda College, Chandkheda College, Chandkheda
Ahemadabad - India Ahemadabad - India Ahemadabad - India
ndmehta@vgecg.ac.in amhaque@vgecg.ac.in mkshah@vgecg.ac.in

Abstract— Electric Motor Drive System is employed in the various industrial applications such as pumping, air blowing, cooling and
compression refrigeration. The motor drive speed control can be achieved by variety of techniques, but an emerging one is Variable Frequency
Drive System (VFDS). The motor driven equipment on a typical industrial site accounts for approximately two thirds of the electricity
consumption. Now-a-days induction motor is the main work-horse of the industries. So controlling of performance of induction motor is most
precisely required in many high performance applications. Scalar control method gives good steady state response but poor dynamic response.
While vector control method gives good steady state as well as dynamic response. But it is complicated in structure so to overcome this
difficulty, direct torque control introduced. This paper discusses the comparative analysis of Field Oriented Control (FOC) and Direct Torque
Control (DTC) methods of Polyphase Induction Motor (PIM) according to their working principle, structure complexity, performance, merits
and demerits.

Keywords- Electric Motor Drive Control, Vector Control, Induction Motor, Direct Torque Control (DTC), Field Oriented Control (FOC),
Decoupling, Separately Excited DC Motor.
__________________________________________________*****_________________________________________________

I. INTRODUCTION
After the invention of the PIM above mention difficulties was
An Electrical Motor Drive is defined as a form of overcome. But it did not have de-coupling facility between torque
machine equipment consist of Electric Motor together with its and flux for controlling. So their dynamic performance was poor.
electronic control equipment & energy transmitting links After the invention of static DC controller, DC machines were
design to convert electrical energy into mechanical energy and again widely used for torque and speed control. Then after
provide electronics control of this process[1]. invention of Power Semiconductor Devices (PSD)[9] and scalar
In 1891 at the Frankfurt exhibition, Nikola Tesla first control method like Variable Frequency Drive (VFD) or slip
presented a Polyphase Induction Motor (PIM). Since then frequency control, induction motors were widely used again but
great improvements have been made in the design and they didn‟t have de-coupling facility of torque and flux. So for the
performance of the induction motors and numerous types of de-coupling of torque and flux, vector control introduced for better
polyphase and single-phase induction motors have been performance of induction motor application.
developed. Due to its simple, rugged and inexpensive
construction and excellent operating characteristics induction Slip frequency control method is well known method for
motor has become very popular in industrial applications. As better dynamic performance. This method was widely used in all
a rough estimate nearly 90 % of the world‟s AC motors are high performance induction machine drives until Field Oriented
PIM. AC induction motor is the most common motor used in Control (FOC) became the industry‟s standard for AC drives with
industries and mains powered home appliances. It is biggest dynamics close to that of DC motor drives [4].
industrial load, so widely used. Engineers have to know its
performance, have to control as per load requirement & protecting Direct Torque Control (DTC) has emerged over the last
induction motor also [3]. decade to become one possible alternative to the well-known
Vector Control of PIM. Its main characteristic is the good
In the initial years D.C. motors were widely used in performance, obtaining results as good as the classical vector
applications where high performance in variable speed was control but with several advantages based on its simpler structure
required. Separately excited D.C. motors [2] were extremely used and control diagram. Which has simpler construction and working
in areas where fast torque was a must. It was considered as a main principle and cheaper than FOC [5]. This paper discusses the
work horse in the industry. The faster dynamic response of DC comparative study between FOC and DTC method of control of
induction motor.
motor lies into its being a doubly fed motor and inherent De-
Coupling facility of independent control of torque and flux in the
motor. DC motor had its disadvantage like maintenance, sparking,
difficulty in commutation at high current and voltage so it is
limited to low power and low speeds.

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IJFRCSCE | December 2019, Available @ http://www.ijfrcsce.org
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International Journal on Future Revolution in Computer Science & Communication Engineering ISSN: 2454-4248
Volume: 5 Issue: 12 05 – 12
_______________________________________________________________________________________________
in other words, the current vector must be controlled. This is the
reason for the terminology „Vector Control‟. In this scheme, the
induction motor is analyzed from a synchronously rotating
reference frame where all the fundamental ac variables appear to
be dc equals. The torque and flux components are identified and
controlled independently to achieve good dynamic response.
Vector control implies that an ac motor is forced to behave
dynamically as a DC motor by the use of feedback control.
FOC or VC of PIM achieves decoupled torque and flux
dynamics leading to independent control of the torque and flux as
Fig.1 Block Diagram of Electric Motor Drive System for a separately excited DC motor. This is achieved by orthogonal
projection of the stator current into a torque-producing component
II. STUDY OF FIELD ORIENTED CONTROL (FOC)
and flux-producing component. This technique is performed by
Before introduction of Vector Control of PIM the methods two basic methods. Direct and indirect vector control. FOC can be
enjoyed wide acceptability in controlling the speed of the cage implemented as indirect (feed-forward) or direct (feedback)
induction motor drive are termed as Scalar Control, V/f control, depending on the method used for rotor flux identification. The
Voltage Control, Frequency Control, Power Recovery Control etc. direct FOC determines the orientation of the air-gap flux by use of
all these control methods with cage motor exhibits inferior a hall-effect sensor, search coil or other measurement techniques.
dynamics performance as compared to separately excited DC However, using sensors is expensive because special modifications
motor. So the modern research is carried on introducing and of the motor are required for placing the flux sensors. Furthermore,
improving Vector control which involves both magnetic and phase it is not possible to directly sense the rotor flux. Calculating the
alignment of quantities [4] [5]. rotor flux from a directly sensed signal may result in inaccuracies
at low speed due to the dominance of stator resistance voltage drop
in the stator voltage equation and inaccuracies due to variations on
flux level and temperature. In case of induction machines, the
indirect method is based on reconstruction (estimation) approaches
employing terminal quantities such as voltage and currents in a
motor model to calculate the flux position. Indirect FOC does not
Fig. 2 Equivalent Circuit of DC Machine. have inherent low-speed problems and is therefore preferred in
most applications. There are three possible implementation based
Vector Control (VC) mode of operation is defined as a control on the stator, rotor, or air gap flux orientation. The rotor flux
technique in which two equivalent control signals are produced to indirect vector control technique is the most widely used due to its
control torque and flux in decoupled manner. When PIM is simplicity.
operated in VC mode, its response improves considerably and it
acts as a better substitute for the separately excited DC motor.
The field and the armature currents respectively can control the
flux and torque, independently in the case of DC motors. It is
because of this inherent decoupling between the field flux and the
armature current, one is able to achieve very good torque dynamics
from DC machines. Therefore, achieving good torque dynamics in
AC machines is not easy. However, now-a-days, field oriented
control or vector control techniques have been employed, which
results in good torque dynamics of induction motors.
Inverter fed induction motors are increasingly being used for Fig. 3 Concept of Space Vector Modulation
general purpose applications. Varying input voltage (V) to the
motor frequency (f) in open loop operation is one of the most FOC methods are attractive but suffer from one major
popular methods of speed control. This is called scalar control disadvantage. They are sensitive to parameter variations such as
method. In this method, V/f is held constant. As the frequency rotor time constant and incorrect flux measurement or estimation
nearly approaches zero, the magnitude of the stator voltage also at low speeds. Consequently, performance deteriorates and a
tends to zero and the stator resistance absorbs this low voltage. conventional controller such as a PI is unable to maintain
Therefore, at low speeds an auxiliary voltage must be injected for satisfactory performance under these conditions [2] [5].
compensating stator resistance drop so that the rated air-gap flux
and hence the full load torque is available up to zero speed. Hence,
in constant v/f control scheme, the air gap flux may drift as a
result, torque sensitivity with slip frequency or stator current will
vary. Hence, a speed control scheme with independent control of
torque and flux loop is desirable.
In 1971, Blaschke proposed a scheme, which aims at the control
of induction motor like a separately excited dc motor, called “Field
Oriented Control or Vector Control”. In an AC machine, both the
phase angle and the modulus of the current must be controlled, or
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International Journal on Future Revolution in Computer Science & Communication Engineering ISSN: 2454-4248
Volume: 5 Issue: 12 05 – 12
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Fig. 6 Vector diagram for Flux oriented control method

Fig. 4 Field Oriented Control of Induction Motor
(1) Stator Flux Oriented Control
The Field Orientated Control is based on three major points: the In stator flux oriented control, the stator quantities are
machine current and voltage space vectors, the transformation of a transformed into a reference frame which rotates at the speed of
three phase speed and time dependent system into a two co- stator flux linkage vector. The rotor current is replaced by:
ordinate time invariant systems and effective Pulse Width 𝑖𝑚𝑠 = 1 + 𝜎 𝑖𝑠 + 𝑖𝑟 𝑒 −𝑗𝜃𝑟 (1)
Modulation pattern generation [6].
By this substitution there exists an inherent coupling between
III. MODELLING OF FIELD ORIENTATION CONTROL flux and torque producing components. Hence, separate
decoupling circuits are needed. This delays the control action. The
As shown in Fig. 2 construction of DC machine is such that decoupling circuit for voltage controlled voltage source inverter
field flux Ψf produced by the field current If is perpendicular to the (VSI) is simpler and can be easily implemented. Since current
armature flux Ψa produced by the armature current Ia. These are control is preferable for high performance drives this is not an
decoupled in nature. This means that torque is individually obvious choice.
controlled by the current Ia, without affecting the Ψf and we get
fast transient response and high torque/ampere ratio with rated Ψf.

As shown in Fig. 3, DC machine-like can also be extended to

an induction motor if the machine control is considered in a
synchronously rotating reference frame (d-q) where the sinusoidal
variables appear as DC quantities in steady state.

Fig. 7 Block diagram of Stator Flux Oriented Control method

(2) Magnetizing Flux Oriented Control
Fig. 5 Block diagram of Field Orientated Control of AC In magnetizing flux oriented control, the stator quantities are
Drive. transformed into a reference frame which rotates at the speed of
There are three ways of vector control based on the reference magnetizing flux linkage vector.
frame in which the stator currents are transformed. They are: The rotor current is replaced by:
(1) Stator flux oriented control 𝑖𝑚 = 𝑖𝑠 + 𝑖𝑟 𝑒 𝑗𝜃𝑟 (2)
(2) Magnetizing flux oriented control By this substitution, there also exists coupling between flux and
(3) Rotor flux oriented control torque producing components. The decoupling circuit required for
independent control of flux and torque is very complex. Hence,
this method is rarely used.

(3) Rotor Flux Oriented Control

In Rotor Flux Oriented (RFO) control [7], the motor quantities
are transformed into a reference frame which rotates at the speed
of rotor flux linkage. The rotor current vector is replaced by imr,
which is expressed as:
𝑖𝑚𝑟 = 𝑖𝑠 + 1 + 𝜎𝑟 𝑖𝑟 𝑒 −𝑗𝜃𝑟 (3)
Where,
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International Journal on Future Revolution in Computer Science & Communication Engineering ISSN: 2454-4248
Volume: 5 Issue: 12 05 – 12
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imr = rotor magnetizing current in stationery frame. direct field oriented control. Knowing the flux position the
бr= the rotor leakage factor required phase currents that give the desired flux and torque value
Using the expression for ir in stationery reference frame is given can be calculated and forced into the motor stator [5].
by:
𝑖𝑟 𝑒 −𝑗 𝜃𝑟 = (𝑖𝑚𝑟 – 𝑖𝑠 )/ 1 + 𝜎𝑟 (4)
The expression for torque becomes:
𝐿𝑚 2 𝜌 𝑖 𝑖 𝑠𝑖𝑛𝛿
𝑚𝑟 𝑠
𝑇𝑒 = (5)
2𝐿𝑟
Where,
δ=angle between field frame and rotor frame
The current vectors is and imr are transformed into a reference
frame which rotates at the speed of rotor flux linkage vector. In
rotor flux oriented reference frame, the imr has only d – axis
component, which is equal to imr (represents the magnitude of imr).
The expression for is in rotor field oriented reference frame is
given by:
𝑖𝑠 𝑒 −𝑗𝜌𝑟 = 𝑖𝑠𝑥 + 𝑖𝑠𝑦 (6)
Where,
ρr= angle between the rotor field reference frame and stationery
reference frame. Fig. 9 Block diagram of Direct Rotor Flux Oriented Control
isx = d – axis component of stator current in rotor field reference method
frame.
isy = q – axis component of stator current in rotor field reference In indirect field-oriented control the 90-degree orientation
frame. Now the torque equation becomes: between the rotor flux and the q-axis component of the stator
𝐿 2𝜌𝑖 𝑖 current is maintained by satisfying the unique slip relationship
𝑇𝑒 = 𝑚 𝑚𝑟 𝑠𝑦
(7)
2𝐿𝑟 associated with the d-q currents components in a field-orientation
This equation is similar to that of DC motor‟s torque equation controlled motor. In this method, a feedback of the rotor position is
where imr is Similar to field current and isy similar to armature required. Similar to the rotor flux position in direct field-oriented
current of DC motor. control case the rotor position can be directly obtained from an
incremental encoder or estimated using the terminal voltages and
currents information which is known as sensor less indirect field-
oriented control [5],[8],[9],[10],[11],[12].

Fig. 8 Block diagram of Rotor Flux Oriented Control method

The goal of FOC is to maintain the amplitude of the rotor flux

linkage at a fixed value, except for field-weakening operation or
flux optimization, and only modify a torque-producing current Fig. 10 Block diagram of Indirect Rotor Flux Oriented Control
component in order to control the torque of the ac machine. This method
control strategy is based on projections. Electromagnetic torque is
produced by the interaction of stator flux linkages and stator
currents (or rotor flux and rotor current), and can be expressed as a IV. DIRECT TORQUE CONTROL
complex product of the flux and current space Phasor. Direct torque control was developed by Takahashi [13] and
Depenbrock [14] as an alternative to field-oriented control [15],
There are two types of FOC: (1) Direct & (2) Indirect [16]. DTC is a control philosophy exploiting the torque and flux
producing capabilities of ac machines when fed by a simple
(1) Direct FOC voltage source inverter that does not require current regulation
In direct field-oriented control the rotor flux position is obtained by loops, still attaining similar performance to that obtained from a
measuring the air gap flux using sensors or estimated using vector control drive.
terminal voltages and currents, which is also known as sensor less
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International Journal on Future Revolution in Computer Science & Communication Engineering ISSN: 2454-4248
Volume: 5 Issue: 12 05 – 12
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In a direct torque controlled (DTC) induction motor drive Over a short time period if the stator resistance is ignored. This
supplied by a voltage source inverter, it is possible to control indicates that the change in the stator flux vector is determined by
directly the stator flux linkage λs (or the rotor flux λr or the the applied voltage vector.
magnetizing flux λm) and the electromagnetic torque by the If a voltage vector changes then the stator flux and phase angle
selection of an optimum inverter voltage vector. between the stator flux and rotor flux vectors changes, then the
The selection of the voltage vector of the voltage source inverter torque produced will change. Since a two-level inverter is only
is made to restrict the flux and torque error within their respective capable of producing six non-zero voltage vectors and two zero
flux and torque hysteresis bands and to obtain the fastest torque vectors, it is possible to create a table that determines the voltage
response and highest efficiency at every instant. DTC enables both vector to apply based on the position of the stator flux and the
quick torque response in the transient operation and reduction of required changes in stator flux magnitude and torque. This is called
the harmonic losses and acoustic noise. the optimal vector selection table.
With DTC there is no modulator and no requirement for a
tachometer or position encoder to feed back the speed or position The estimated stator flux magnitude and torque output is
of the motor shaft. compared to the demand values. A voltage vector is then selected
In DC drive armature current and magnetizing current are that will drive the torque and flux towards the demanded values
control variables whereas in DTC, motor torque and motor [21].
magnetizing flux are control variable.
Both drives use actual motor parameters to control torque and
speed which shows better dynamic performance. In DTC, no
tachometer or encoder is needed to feedback a speed or position
signal [5].
DTC is the first technology to control the “real” motor control
variables of torque and flux.
It beneficial because torque and flux are motor parameters that
are being directly controlled, there is no need for a modulator, as
used in PWM drives, to control the frequency and voltage. DTC
also provides precise torque control without the need for a
feedback device.
Fig. 12 Speed Torque Characteristics for FOC and DTC

Fig. 11. Block diagram of DTC Fig. 13 DTC Controller

In principle, the DTC method selects one of the inverter‟s six V. COMPARATIVE STUDY OF FOC AND DTC
voltage vectors and two zero vectors in order to keep the stator R. H. Park [17] introduced rotating reference frames in 1929,
flux and torque within a hysteresis band around the demand flux then after many years FOC was developed which results in
and torque magnitudes. The torque produced by the induction decoupling of torque and field excitation which is similar in
motor can be expressed as: performance with DC separately excited motor control. Hannakam
3 𝑃 𝐿𝑚
𝑇= [18] developed a dynamic model of induction machine with
2 2 𝐿𝑟 𝐿𝑠 𝜓𝑠 𝜓𝑟 sin 𝜌 (8)
analog computer in 1959. Then the concept of Indirect FOC
(IFOC) presented by Hasse in 1968 [19]. In 1971, Direct FOC
This shows the torque produced is dependent on the stator flux
(DFOC) was developed within Siemens by Blaschke [20].
magnitude, rotor flux magnitude, and the phase angle between the
Both authors proposed an orientation aligned with the rotor flux
stator and rotor flux vectors. The induction motor stator equation
vector. In 1980s, Depenbrock presented the Direct Self Control
can be approximated as
(DSC) [14] and Takahashi and Noguchi the Direct Torque Control
𝑑Ψ (DTC) [13].
𝑉 = (9) Unlike FOC which includes pulse width-modulated current
𝑑𝑡
control loops, DSC and DTC are hysteresis controls working
directly with stator flux and torque without having the need for an
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International Journal on Future Revolution in Computer Science & Communication Engineering ISSN: 2454-4248
Volume: 5 Issue: 12 05 – 12
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inner current control loop [2], [18]. Each drive ran a 15 kW, four-
pole induction motor at its rated torque reference and with the load
machine controlled to make slow speed reversals near zero speed.
Field-oriented control in induction motor is sensitive to
deviation in estimated motor parameters values used in the control
algorithm from their actual values. In addition, the parameters
values may need to be updated while the motor is running, if there
are large changes in the operating temperature and flux magnitude
because resistances values depend on the temperature and
inductances values changes due to flux saturation. The desired
field orientation torque characteristic cannot be achieved unless the
controller provides real time tuning for the parameters values.
Direct field orientation requires values of the rotor leakage Fig. 15 Relation between Speed and Angular Position of the
inductance and the ratio of the rotor inductance to the mutual Induction Motor Drive with FOC and DTC.
inductance while the first parameter has a constant value
independent of temperature and flux the second parameter is Speed and angular position of a 1.5 Nm, 6,000 rpm PM
moderately affected by the saturation of the main flux path in the synchronous motor were measured during speed reversal between
motor. In addition, there is the need for the special flux sensors, ±6,000 rpm in less than 25 milliseconds (ms). This is very close to
which need frequent maintenance and impose limitation in the the motor‟s mechanical time constant of 24 ms and a theoretical
motor mounting. If the sensorless form of direct field orientation is limit.
implemented, the values of the stator resistance and inductance are Beside the above limitations, field-oriented control is complex
needed beside the above parameters. The value of the stator and need fast speed micro-controllers. These limitations make an
resistance is sensitive to temperature changes. If sensors are used alternative method known, as direct torque control an attractive
to measure the flux, the parameters values mismatch will affect the method because it has a simple algorithm that does not include
steady state torque values but not the dynamics response, if flux is phase transformation, does not need special position or flux
estimated the dynamic response will deteriorate. Indirect field sensors, PI regulators, current regulators and PWM signals
orientation is more sensitive to parameters values inaccuracy than generators (no timers) [24],[26].
direct field orientation. The value of the rotor time constant is used
in the slip frequency calculation this parameter is sensitive to Direct Torque Control (DTC) is an optimized simple induction
temperature and flux level. The need of special position motor drive control principle where inverter switching directly
incremental encoder is another disadvantage of the method [26]. controls the motor flux and torque. It can be implemented without
the use of speed and flux sensors, reducing the cost and
eliminating the need for regular maintenance. It does not require
any coordinate transformation, which would increase the
computational burden. Another advantage of DTC over field-
oriented control is that it depends only on the value of the stator
resistance, so it is less sensitive to parameter value variations. The
measured input values to the DTC control are the motor currents
and voltages. The voltages can be defined from the DC-bus
voltage and the inverter switch positions without the use of
sensors. The voltage and current signals are inputs to the flux and
torque estimator, which produces the values of stator flux and
torque at a specific switching period. Motor torque and flux
Fig. 14 Torque Reference and Torque error Speed Torque hysteresis comparators compare the actual values to the reference
Characteristics for FOC and DTC values of the torque and the flux. The outputs from these
comparators are updated every switching period and they indicate
It is drive's sensor less torque control accuracy was compared how the torque and flux have to be varied. Depending on the
using a four-pole induction motor and a synchronous reluctance outputs from the comparators, the switching logic directly
motor of 15 kW size (at 50% of rated speed). DTC held torque determines the optimum inverter voltage vector. The simplicity of
error to only a small percent of rated torque for both motor types. the DTC method comes with some disadvantages, the main one
being the high torque ripple. The main reason for the torque ripple
in the conventional DTC is that the selected voltage vector is
applied for the complete switching period regardless of the
magnitude of the torque error, resulting in a wide torque hysteresis
band. A better drive performance can be achieved by varying the
duration of applying the selected voltage vector during each
switching period according to the magnitude of the torque error
and the position of the stator flux, which will result in a small
torque hysteresis band and hence less torque ripple [22], [26],[27].

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International Journal on Future Revolution in Computer Science & Communication Engineering ISSN: 2454-4248
Volume: 5 Issue: 12 05 – 12
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TABLE 1. intelligence techniques this task can be achievable. Also cost
COMPARISION OF FIELD ORIENTATED CONTROL & DIRECT
wise DTC is cheaper than FOC. So mostly DTC used
TORQUE CONTROL
compared to FOC. But wherever high performance operation
PARAMETER FOC DTC precisely required FOC is more preferable than DTC.

Transformation Present Void

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