Direct Torque Control

Induction Motor Vector Control Without an Encoder

DC Drive

Evolution
of Drive
Control
Techniques

Speed
Control

Torque
Control

DC
Motor

Scalar Frequency Control

V
Freq. Ref.

V/f
Ratio

PWM
Modulator

AC
Motor

Flux Vector Control

V

What
makes DTC
different?

Speed
Control

Torque
Control

Vector
Control

PWM
Modulator

AC
Motor
T

Direct Torque Control

Speed
Control

Torque
Control

Hysteresis
Control

AC
Motor

Comparisons of Control Types

Control Type

DC Drive

Scalar Frequency

Torque

Flux

Control

Control

Direct

Direct

None

None

Response

High

Low

Control
Flux Vector Control

Indirect

Direct

High

Advantages

Disadvantages

High accuracy

Motor maintenance

Good torque response

Motor cost

Simple

Encoder required for high accuracy

No encoder

Low accuracy

Simple

Poor torque response

High accuracy

Encoder always required

Good torque response

Direct Torque

Direct

Direct

High

Control

No encoder

Encoder required for high accuracy

Moderate accuracy
Excellent torque response

Integration of DTC into ABB Drives

Where do we use it?
n

ACS 600 family

Standard product line, 7 years experience

ACS 600 Multidrive

Systems configuration
Common DC bus
Expanded communication

ACS 1000 / ACS 6000

Medium voltage

ACS 800

DTC Advantages and Features

Why should we use it?
Encoder not needed for many applications
n Excellent torque performance
n

Minimize process disturbances

Elimination of resonance problems

Quiet operation
n Broad application coverage
n

Combining Theory and Technology

Field
Oriented
Control

Direct
Torque
Control

Direct Self
Control

DSP
and ASIC
Technology

Basic Direct Torque Control Scheme

Hysteresis Control
Torque Ref

Torque Comparator

ASIC
Torque
Status

Hysteresis
Window
Flux Comparator
Flux Ref

Actual
Torque

Actual
Flux

Optimal
Switching
Logic

S1, S2,
S3

DSP
Switch Postions
Adaptive
Motor
Model

Actual Frequency

Flux
Status

Inverter

DC Link Voltage
Current

Actual Speed
AC
Motor

Complete Direct Torque Control Drive

Speed
Ref

Torq(Spd)
Ref
Speed
Control

Torque Ref
Control

Torque
Ref

Inverter
S1,
S2, S3

Absolute Torque Ref

Flux Level
Flux Ref
Control

Actual
Frequency

Actual Speed

Switching
Frequency
Control

Flux Ref

Hysteresis
Window

Direct
Torque
Control

Switch
Postions

(see Fig. 2)

DC Link
Voltage
Current

AC
Motor

Slow Reversing
100
Shaft Torque
80
60
750 rpm
40
20
Shaft speed
%

0
-20
-40
-750 rpm
-60
0

10

15

20

25

30

35

40

45

Time (s)

Slow reversing with constant torque load (80%).

Measured shaft torque and speed. No encoder.

Slow
Reversing

Optimal Starting
High starting torque
up to 200 % of motor
nominal torque

Torque

PWM

Torque

superior performance
for applications like
extruders and cranes

DTC

Speed

immediate start on
a rotating pump or
fan motor

Speed

Automatic start

no restart delay

Excellent Torque Control

Torque step rise time

DTC

< 5 msec.

Flux vector

10 to 20 msec.

Open loop PWM

> 100 msec.

Torque:
DTC

No encoder required for accurate

torque control

PWM

Full torque at zero speed

Direct control of torque
no nuisance trips

Torque Response
Estimated air-gap torque
100
80
60

% 40
20
0
-20
1

Time (ms)

Torque
Response

70 % torque reference step at 25 Hz. No encoder.

Unbeatable Speed Control

PWM
no encoder
Static speed error

PWM
with encoder

DC drive
with encoder

DTC
no encoder

DTC
with encoder

1 to 3 %

0.01 %

0.01 %

0.1 to 0.5 %

0.01 %

3 %sec.

0.3 %sec.

0.3 %sec.

0.4 %sec.

0.1 %sec.

Dynamic speed error

Speed
(rpm)

200

Torque
(Nm)

Torque
500
Speed

150

100
0

1000

2000

3000

4000

5000

Time (msec.)

Typical Torque and Speed Performance Data

Scalar

Flux Vector

Direct Torque

DC Drive with

Frequency

Control

Direct Torque

Control with

Encoder

Control

(with Encoder)

Control

Encoder

+/- 3 %

+/- 12 %

+/- 4 %

+/- 4 %

+/- 3 %

NA

+/- 4 %

+/- 1 %

+/- 1 %

+/- 1 %

10 ... 20 ms

150 ms

10 ... 20 ms

1 ... 2 ms

1 ... 5 ms

+/- 0.01 %

+/- 1 ... 3 %

+/- 0.01 %

+/- 0.1 ... 0.3 %

+/- 0.01 %

0.3 %s

3 %s

0.3 %s

0.4 %s

0.1 %s

Torque Control
Linearity
Repeatability
Response Time
Speed Control
Static Accuracy
Dynamic Accuracy

Implementation of Special Features

Flux Optimization
n Flux Braking
n Automatic (Flying) Start
n Quiet Operation
n Power Loss Ride Through
n

Low Audible Noise

Noise
level
(dB)

No high-pitch
audible whine,
due to just-in-time switching

80
60
40

Low motor noise,

due to sophisticated flux
optimization
Low-noise fans

20
0
0

10

15

Typical motor noise spectrum

DTC
PWM

20
25
Frequency (kHz)

Power Loss Ride Through

UDC

Fast response to mains side

interruptions

UMIN

Controlled operation
during power loss

fOUT
TM

10

15

UDC = DC voltage

20

Time (sec.)

UMIN = DC voltage minimum limit

fOUT = output frequency (proportional to speed)
TM

= motor torque

The DTC Solution

What do we get?
Reduced encoder count
n Fast torque response
n High starting torque
n Special features
n Broad application coverage
n

25

Direct Torque Control

Induction Motor Vector Control Without an Encoder

Direct Torque Control

Questions ???