PENGGUNAAN DAN

PENGEMUDIAN MOTOR
LISTRIK
Oleh:
Ir. Sutedjo, MT.
Ony Asrarul Qudsi, ST., MT

Program Studi Teknik Elektro Industri

Departemen Teknik Elektro
Politeknik Elektronika Negeri Surabaya

Induction Motor Drives

Outline
 Direct Torque Control
 Stator Flux and Torque Estimation
Basic Principles of DTC

Tref + Sa
Voltage
_ Voltage Sb
Source IM
T vector Inverter
Sc
ref + selector
_


+ Vdc -

Stator flux
and
torque
estimator

•Stator flux and torque control within hysteresis bands

•Voltage vector selected based on stator flux and torque demands
Basic Principles of DTC

How the voltage vectors control the flux?

How the voltage vectors control the torque?

These questions will be answered in the following

slides
Basic Principles of DTC

 Space vector equations of IM :

d s
vs  Rs is 
dt
d 'r
0  Rr i 'r   j r 'r
dt
Basic Principles of DTC

 Space vector equations of IM :

 s  Lsis  Lmi 'r

 'r  Lr i 'r  Lmis

 Basic Principles of DTC

Direct Flux Control

• From stator voltage equation :

d s
 vs  Rs is
dt
• Neglecting drop across Rs :

 s  vs t
 Basic Principles of DTC

Direct Flux Control

• Voltage vectors for 3-phase VSI

vs (t )  2 3 V S a (t )  Sb (t )a  Sc (t )a 2 , where a  e
2
j 
3
 Basic Principles of DTC
010 110
Direct Flux Control
011 100

s 001 101

s Hysteresis
Flux band
 Basic Principles of DTC

Direct Flux Control

q

Sector IV Sector III

60o I
Sector II d
Sector V

Sector VI Sector I
 Basic Principles of DTC

Direct Flux Control

vs,4
Sector II

vs,3
If the flux in kth sector Sector I vs,4
k +1 vector increases  • Voltage vector vs,2
and vs,3 in sector I
k + 2 vector reduces  • Voltage vector vs,3
vs,3 and vs,4 in sector II

vs,2 vs,4 vs,3

Hysteresis
band vs,3
vs,5 vs,2

vs,6 vs,16
 Basic Principles of DTC

Direct Flux Control

ref + /2
Flux ref
ref - /2

Flux Flux t
ref + error 1 error
status
_ 0
/2
 Flux error 0
 t
- /2

Flux 1
Error
Status 0 t
Basic Principles of DTC

Direct Torque Control

 IM torque equation

3 Lm
telec   s r sin  sr
2 L s Lr
Basic Principles of DTC

Direct Torque Control

 It can be shown that

Lm
  r Ls
 r

1  p r
r s

• Rotor flux follows the stator flux with a time

constant r
Basic Principles of DTC

Direct Torque Control

q t = t1 q t = t1 + t
Applying voltage
vectors rotating s
s Rotate in the same
continuously direction Rotate
sr sr continuously
r d r d

q
t = t1 + t
Applying voltage
vectors in
opposite
direction or zero
voltage vectors
s Rotate
continuously
sr
r d
Basic Principles of DTC

Direct Torque Control

 Three cases are considered :

– Case 1
Forward active voltage vectors
• stator flux increases or decreases
• Increases sr
• Increases Torque
Basic Principles of DTC

Direct Torque Control

Case 2
Zero voltage vectors
 stator
flux stops
 Decreases sr
 Decreases Torque
Basic Principles of DTC

Direct Torque Control

Case 3
Reverse active voltage vectors
 stator
flux increases or decreases
 Decreases sr rapidly
 Decreases Torque rapidly
Basic Principles of DTC
Torque
Direct Torque Control reference Torque

T/2

T/2

Torque error
1
Tref + T
0
_ -1

T T

Speed

1 Torque error status

0
-1
Basic Principles of DTC

 By limiting the torque and flux within their

hysteresis bands, de-coupling of torque and flux
can be achieved
Basic Principles of DTC

Tref + Sa
Voltage
_ Voltage Sb
Source IM
T vector Inverter
Sc
ref + selector
_


+ Vdc -

Stator flux
and
torque
estimator

•Stator flux and torque control within hysteresis bands

•Voltage vector selected based on stator flux and torque demands
Basic Principles of DTC

Selection table for optimum switching pattern

Counterclockwise Sec I Sec II Sec III Sec IV Sec V Sec VI
Inc Flux Inc T(01) 100 110 010 011 001 101
(0) Dec T(00) 000 111 000 111 000 111
Dec Flux Inc T(01) 110 010 011 001 101 100
(1) Dec T(00) 111 000 111 000 111 000

Clockwise Sec I Sec II Sec III Sec IV Sec V Sec VI

Inc Flux Inc T(10) 001 101 100 110 010 011
(0) Dec T(00) 000 111 000 111 000 111
Dec Flux Inc T(10) 011 001 101 100 110 010
(1) Dec T(00) 111 000 111 000 111 000
Stator Flux and Torque Estimation

 Accurate estimation to ensure proper operation and

stability

• Various methods proposed

– voltage model
– current model
– closed-loop observer
Stator Flux and Torque Estimation

 Stator flux- voltage model

 s   (vs  i Rs ) dt

• Problems:
– dc drift
– stator resistance variation
 Stator Flux and Torque Estimation

 Torque estimation

p
  
T  1.5 s   j is T
3p
22
 
Im is  s
*

– In d-q form
p
T  1.5 sdisq  sqisd 
2
25
Implementation of DTC

 Basic I/O requirements:

– Phase Current measurement

– DC Link Voltage measurement

– Speed measurement from Incremental Encoder

for closed-loop speed control (optional)

• Fast processor to reduce torque ripple

Implementation of DTC
Reference
 Theodore Wildi, ” Electrical Machines, Drives, and Power Systems”,6th
Ed., Prentice Hall, 2006.
 R. Krishnan, “Electric Motor Drives, Modeling, Analysis, and Control”,
Prentice Hall, 2001
 Bimal K. Bose,” Modern Power Electronics and AC drives”, 2nd Ed.,
Prentice Hall PTR, 2006.
 Ned Mohan, ”Electric Drives an Integrative Approach”, MNPERE,
2003
 Ned Mohan, ”Advance Electric Drives Analysis, control, and Modeling
using Simulink”, MNPERE, 2003
 Ion Bolda, SA Nasar, ”Electric Drives”, 2nd Ed., CRC press, 2006
 JMD Murphy, FG Turnbull, ”Power Electronic Control of AC Motors”,
Pergamon Press, 1988
Reference
 MH Rashid, ”Power Electronics Circuits, Devices, and Applications”, 3rd
Ed., Prentice Hall, 2004
 Vedam Subrahmanyam,”Electric Drives concepts and Applications”,
Mc Graw-Hill, 1994.
 El-Sharkawi, M. A., Fundamentals of Electric Drives, Brooks/Cole
Publishing Company, California, 2000.
 Dubey, G.K., Fundamentals of Electric Drives, 2nd ed., Alpha
Science Int. Ltd., UK, 2001.
 Krishnan, R., Electric Motor Drives: Modelling, Analysis and Control,
Prentice-Hall, New Jersey, 2001.
 Nik Idris, N. R., Short Course Notes on Electrical Drives, UNITEN/UTM,
2008.
 Ahmad Azli, N., Short Course Notes on Electrical Drives,
UNITEN/UTM, 2008.