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Comparison between FOC and DTC strategies for induction machine

Conference Paper · May 2011

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Hamid Chaikhy Mohamed Khafallah

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 Comparison between FOC and DTC strategies
for induction machine
H. CHAIKHY, M. KHAFALLAH, A. SAAD and K. CHIKH
Equipe Energie et Systèmes Electrique, Hassan II University-ENSEM, Casablanca, Morocco
BP 8118, Oasis, Casablanca, Morocco.
chaikhy.hamid@gmail.com; m_khafallah@yahoo.fr

Φ
Abstract -- This paper presents a contribution for detailed challenging problem. Several control strategies have been
comparison between two control strategies for Induction Machine used for induction machine drives as: Field Oriented Control
(IM) drives: Direct Field-Oriented control (DFOC) and Direct (FOC) [1], Firect Torque Control (DTC) [2], and direct self
Torque Control (DTC). The performances of those two control control (DSC) [3].
schemes are evaluated and compared by simulation in terms of
torque and current ripples, transient response and sensitivity to In 1970, the principle of field oriented control (FOC) of
machine parameters. IM was proposed. The (FOC) appeared to have similar
performance to the DC machine over a wide range of speed
Keys words:—DFOC, DTC, Steady-state performance, and load conditions, but the performance of a FOC
transient performance, Parameter sensitivity. implementation depends critically on a very accurate
coordinate transformations and flux angle estimation, which
NOMENCLATURE are complex and depending on the variation of machine
parameters. For this reason, many studies have been
ii : Stator and rotor currents,(A) performed into finding various solutions that enable the IM
i i : d and q components stator current,(A) control to have a quick torque response, and to reduce the
i i : d and q components rotor current,(A) complexity of FOC.
V : Stator voltage Since direct torque control (DTC) was introduced in the
Vds,Vqs : d and q components stator voltage,(V) mid-1980s, it has been widely used for IM drives. Besides its
Vdr,Vqr : d and q components rotor voltage,(V) simplicity, DTC is able to produce fast torque and flux
Ψs,Ψr : Stator and rotor flux,(Wb) control and, if the torque and flux can be estimated correctly,
Ψds,Ψqs : d and q components stator flux,(Wb) DTC become robust. However, it is well known that DTC
Ψdr,Ψqr : d and q components rotor flux,(Wb) presents some disadvantages, such as the variable switching
Rs,Rr : Stator and rotor resistance,(Ω) frequency behavior of the inverter, the notable torque, flux
Ls,Lr : Stator and rotor Inductance,(H) and current ripples, also DTC scheme greatly affected by the
M : Mutual Inductance change of the stator resistance especially when the motor
Tr : Rotor time constant runs at low speeds.
Ts : Stator time constant Recently, much effort has been made to improve the
p : Pole pairs number performance of DTC, especially by reducing the ripples, and
σ : Leakage factor by fixing the inverter switching frequency [8]-[10].
ω Several papers have been published on FOC and DTC in
Ω : Rotor speed,(rad.s-1) the last 30 years, but only few of them was aimed to
p
ωr : Slip frequency,( rad.s-1) emphasize differences, advantages and disadvantages [4]-
T : Electromagnetic torque,(Nm) [7].
Tl : Load torque,(Nm) The aim of this paper is to compare the performances of
J : Inertia moment both DFOC and DTC when applied to IM drives and point
f : Coefficient of viscous friction out the strengths and weaknesses that can help to make a
. choice between them for a particular application. Before
analyzing the two methods it is very important to establish
I. INTRODUCTION the conditions to have a fair comparison between them.

I NDUCTION machines (IM) have been widely used in

industry because of their advantages: simple construction,
ruggedness, reliability, low cost, and a minimum of
maintenance. However, due to their highly-coupled
nonlinear structure, a high-performance control of IM is a
The paper starts by presenting the IM model and the
operating principles of DFOC and DTC. This will be
followed by an explanation of the comparative analysis and
simulation tests performed, the main characteristics,
advantages and disadvantages of both methods will be
showed and discussed in the results of the simulation tests.
Finally, this work will give a study of sensitivity of the two
 control scheme to machine parameters. presents a summary Assuming a rotor flux reference frame, and developing the
of the comparison between not only regarding the previous equations with respect to the axis and axis
performance but also considering the control structure and components, leads to
requirements of both systems.
The condition of flux rotor orientation is 0 .
II. INDUCTION MACHINE DYNAMIC MODEL Consequently, the FOC equations become:

In the stationary reference frame fixed on stator, the ψ ψ (7)

mathematical equations of IM can be written as follows:
M
T p ψ i (8)
L
• Stator and rotor voltage equations:
M
Vs R i
Ψ
(1) ψ i (9)
T
Ψ
0 R i jωψ (2) M
• Stator and rotor flux equations: ω ω ω (10)
T ψ

ψ Li Mi (3) V σL R i σL ω i
M ψ
(11)
L
ψ Li Mi (4) M
• Mechanical dynamic equation: V σL R i σL ω i ω ψ (12)
L
Ω
J T fΩ T (5) Where:
• Electromagnetic torque: T
L
and σ 1
M
(13)
R L L
M
T p (ψ i ψ i ) (6)
L

III. PRINCIPLE OF FOC

The field oriented control was introduced by Blaschke in
1972. Since then, it has been the widely used control for IM
drives. This technique allows independent control of the
torque and flux of the dynamic machine. This is done by
direct or indirect flux orientation .In the direct field oriented
control (DFOC) strategy, both the instantaneous magnitude
and position of the rotor flux are supposed to be directly
measured or estimated.
IV. PRINCIPLE OF DTC
Since M. Depenbrock and I. Takahashi proposed direct
torque control (DTC) for IM in the middle of 1980’s, more
than decade has passed. It is getting more and more popular
nowadays. The basic idea of DTC for IM is to control the
voltage space vectors properly, which is based on the
relationship between the slip frequency and torque.

In Fig.1, the block diagram of the DFOC control The basic DTC scheme is shown in Fig.2.
technique for IM is shows:
Udc
Udc

i*qs V*qs d q CТ
T* SVM Т* INVERTER
INVERTER IM Switching IM
table
ψr* *
i ds V*ds Ψs * Cψs
abc
θs
ids θs
iqs
Parameters
Machine signals Ψs
Т Flux and Machine signals
ψr
Estimator torque
T estimator

Fig.2: block diagram of the DTC control technique for

Fig.1: block diagram of the DFOC control IM
technique for IM
 by using a α-β stationary stator reference frame, the stator • Time response to a step variation of the torque
flux linkage Ψ and electromagnetic torque Т are calculated command, at different rotor speeds.
by using:
For a fair comparison of the two schemes the following
ψ (ψα ) (ψβ ) (14) criteria have been adopted, the same average switching
frequency of the inverter.
Where:
ψ (V R i )dt (15) For that, the amplitude of the hysteresis bands have been
adjusted in order to achieve a mean inverter switching
ψ V R i dt (16) frequency practically equal to that of DFOC scheme.
The angle θ is equal to:
A. Steady-state performance
Ψβ
θ artg( ) (17)
Ψα The steady-state performance of DFOC and DTC
Т p ψα iβ ψβ iα (18) schemes has been compared evaluating the three-phase rms
The error between the estimated torque T and the current ripple in different operating conditions. For this
reference torque T* is the input of a three level hysteresis purpose the three-phase rms current ripple, defined by
comparator, whereas the error between the estimated stator
flux magnitude ψ and the reference stator flux magnitude ( ) (19)
ψ is the input of a two level hysteresis comparator.
The selection of the appropriate voltage vector is based on The results obtained using DFOC and DTC schemes are
the switching table given in Table I. The input quantities are summarized in Tables II and III, respectively. The
the flux sector and the outputs of the two hysteresis considered operating conditions are related to rotor speed
comparators. values of 100%, 50%, and 10% of the rated value, and
Assuming the stator flux vector lying in sector 1 of the d-q torque values of 100%, 50%, and 0% of the rated value.
plane, the voltage vectors used by DTC technique are shown
in Fig.5. TABLE. II
2
3
Sector THREE-PHASE RMS CURRENT RIPPLE (DFOC)
3
Sector
Δψs3 Δψs2
2

Δψs3
1440 rpm 740 rpm 100 rpm
Δψs1
Sector 10 Nm 0.31 A 0.54 A 0.38 A
4 Δψs5 Δψs6 5 Nm 0.32 A 0.54 A 0.37 A
4 1
Sector
0 Nm 0.33 A 0.53 A 0.35 A
1

Sector
5 TABLE. III
Sector
6
THREE-PHASE RMS CURRENT RIPPLE (DTC)
6
5

Fig.5. Voltage vectors utilized in basic scheme when stator flux is in sector 1. 1440 rpm 740 rpm 100 rpm
10 Nm 0.52 A 0.85 A 0.80 A
TABLE I 5 Nm 0.53 A 0.84 A 0.79 A
BASIC SWITCHING 0 Nm 0.54 A 0.84 A 0.76 A
Outputs of hysteresis Sector
comparators 1 2 3 4 5 6
=-1 V V V V V V As it is possible to see, in all the operating conditions the
= -1 =0 V V V V V V behavior of DFOC scheme is characterized by lower values
=+1 V V V V V V of the three-phase rms current ripple according to DTC
=-1 V V V V V V scheme.
= +1 =0 V V V V V V
=+1 V V V V V V The torque, the stator current waveform and the stator
current harmonic spectrum obtained with DFOC scheme are
V. COMPARISON BETWEEN FOC AND DTC shown in Fig.4 (a)-(c), respectively. Fig.5 (a)-(c) shows the
same quantities obtained when using DTC scheme. The rotor
This section is aimed to give a contribution for a fair speed is 1440 rpm and the reference torque is 10 Nm (rated
comparison between the two control techniques. The torque).
quantities used to evaluate the performance of DFOC and
DTC, in steady state and transient conditions, are:
• Current and torque ripple values in steady-state
operating conditions.
 parameter variations. It depends on accurate parameters
6 6 identification
15
to achieve the expected
10 performance. These

T o rq u e (N m )
4 4
S ta to r c u rre n t (A )

10

S tator c urrent (A )

Torque (Nm)
2
(a) 2
(a) 5 5
0 0
-2 -2 0
0
-4 -4
-5
0.49 0.5 0.51 0.52 0.53 0.54 0.55
0.49 0.495 0.5 0.505 0.5
-6 -6
0.5 0.505 0.51 0.515 0.52 0.525 0.53 0.535 0.54 0.5 0.505 0.51 0.515 0.52 0.525 0.53 0.535 0.54 Time (s) Time(s)
Time (s) Time (s)
(1440rpm) (1440rpm)
12 12
15
10 10 10

T orque(N m )
T o rq u e (N m )
T o rq u e (N m )

10

Torque (Nm)
8 8

6 (b) 6
(b) 5
5

4 4
2 0 0
2
0.49 0.495 0.5 0.505 0.51
0 0.49 0.5 0.51 0.52 0.53 0.54 0.55
0 0.5 0.505 0.51 0.515 0.52 0.525 0.53 0.535 0.54 Time(s)
0.5 0.505 0.51 0.515 0.52 0.525 0.53 0.535 0.54 Time (s)

Time (s) Time (s)

(720 rpm) (720 rpm)
15

(c) (c) 10
10

T o rq u e (N m )
Torque (Nm)
5 5

0
0
0.49 0.5 0.51 0.52 0.53 0.54 0.55
Time (s) 0.49 0.495 0.5 0.505 0.51
(100rpm) Time(s)

Fig.7. Evolution of torque

Fig.6. Evolution of torque
response for different
Fig.4.(a) Stator current. (b) Fig.5.(a) Stator current. (b) response for different
speeds in DTC scheme
Torque. (c) Stator current Torque. (c) Stator current speeds in DFOC scheme
harmonic spectrum in DFOC harmonic spectrum in DTC

B. transient performance parameters are altered by physical phenomena such as

temperature, saturation, and skin effect [11].
The transient performance of the two schemes has been Let’s consider the steady state of induction machine
compared analyzing the response to a step variation of the We have:
ω .T .
torque command from 0 Nm to 10 Nm (rated torque), at ψ M. (20)
(ω T )
different rotor speeds.
Fig.6 and Fig.7 show the results obtained for a step variation
of the torque command from 0 to 10 Nm, at different rotor I ω .T .
speeds (1440rpm,720 rpm and 100rpm),respectively for ψ M. (21)
(ω T )
DFOC and DTC. These results show that using the DTC With:
scheme, a better torque response can be achieved in terms of
settling time and maximum overshoot. The different ω (22)
T
dynamic behavior is due to presence of PI regulators in We obtain:
DFOC scheme, which delay the torque response. The
settling times for the two cases are summarized in Table IV. T
.( )
T
ψ M. i (23)
TABLE. IV T
SETTLING TIME OF THE TORQUE RESPONSE .
T
FOC DTC
1440 rpm 7.5 ms 2.1 ms
T
740 rpm 5 ms 1.2 ms T
100 rpm 4,5 ms 1 ms ψ M. i (24)
T
.
T

Fig.8 and Fig.9, shows variation effect of rotor time

VI. Analysis of the variation effect of induction machine
constant Tr on d and q components flux.
parameters:

A. Variation effect of the rotor time constant using Ψ (Wb) Ψ (Wb)

DFOC control
DFOC scheme is very sensitive to flux estimation
(magnitude and orientation) which is mainly affected by

Fig.8. variation effect of Fig.9. variation effect of

rotor time constant Tr on q rotor time constant Tr on d
component flux. ( ) component flux. ( )
 during the operation of the machine. A small variation will
results in mismatch between real rotor flux and estimated
rotor flux.
starting from the figures one can deduce: In this part we will define two equations:
T
• 1 then ψ ψ and ψ 0
T
T
• Induction machine equation:
• > 1 then ψ < ψ and ψ <0
T
T
• < 1 then ψ > ψ and ψ >0 V R i (25)
T
Fig.10 and Fig.11 show simulation results of the • Control equation:
variation effect related to the rotor time constant on the flux
and torque using DFOC scheme. V R i (26)
With:
Rotor time constant Tr 0.22 Rotor time constant Tr (s)
ro t o r t im e c o n s t a n t (s )

() M
R o t o r t im e c o n t a n t (s à

0.16

0.14
0.2 i
L L L
ψ (27)
(a) 0.18
0.12
(a)
0.1 0.16 Then:
(R R ) M (R R )
0.08 0.14 ψ ψ (28)
L L L
0.06 0.12
0.6 0.8 1 1.2 1.4 1.6 1.8 2 0.6 0.8 1 1.2 1.4 1.6 1.8 2
(R R )
Time (s) Time(s) If R < R so time constant < 0 then unsteady
L
-- Real flux Ψdr :(Wb)
Estimated flux
-- Estimated flux Ψdr (Wb)
: Real flux
-- Real flux Ψdr (Wb)
: Estimated flux behavior of the system.
-- Estimated flux Ψdr: (Wb)
Real flux
1.1
1.1
Fig.12 and Fig.13 show simulation results of the variation
(b) (b) effect related to the stator resistance on the flux and torque
1 1 using DTC scheme.

0.9 0.9 8 7
0.6 0.8 1 1.2 1.4 1.6 1.8 2 0.6 0.8 1 1.2 1.4 1.6 1.8 2 Stator resistance (Ω)
Time s) Time (s) 6 Stator resistance (Ω)
7 5

-- Real flux Ψqr :(Wb)

0.2
-- Real flux Ψqr (Wb) 4 (a)
0.4
Estimated flux
-- Estimated flux Ψqr (Wb)
: Estimated flux
-- Estimated flux Ψqr (Wb) 6
(a) 3
: Real flux 0.1 : Real flux
2
0.3
0 5 1
0.6 0.8 1 1.2 1.4 1.6 1.8 2 0.6 0.8 1 1.2 1.4 1.6 1.8 2
0.2 Time (s)
Time (s)

0.1 (c) -0.1 (c) 1.5 8

-- Real stator flux: Estimated
(Wb)
-- Real stator flux: Estimated
(Wb) flux flux
-- Estimated stator flux: Real
(Wb)flux 6 -- Estimated stator flux: Real
(Wb)flux
0 -0.2
1 4 (b)
-0.1
0.6 0.8 1 1.2 1.4 1.6 1.8 2 0.6 0.8 1 1.2 1.4 1.6 1.8 2 (b) 2
Time (s)
Time (s) 0
0.5
15 15 0.6 0.8 1 1.2 1.4 1.6 1.8 2
0.6 0.8 1 1.2 1.4 1.6 1.8 2
-- Real :Torque
Estimated couple -- Real Torque
: Estimated torque Time (s)
Time (s)
-- Estimated torque -- Estimated torque
: Real torque
: Real couple 60 -- Real Torque (Wb)
14 -- Real Torque: (Wb)
Estimated flux : Estimated
-- Estimated torque
torque (Wb)
40
-- Estimated torque: (Wb)
Real flux : Real torque
12 20
10 10 0
10
-20 (c)
(d)
8 (c) -40

(d) 6
0.6 0.8 1 1.2 1.4 1.6 1.8 2
0.6 0.8 1 1.2 1.4 1.6 1.8 2
Time (s)
Time (s)
5 5 Fig.12(a)-(c). variation effect
0.6 0.8 1 1.2 1.4 1.6 1.8 2 0.6 0.8 1 1.2 1.4 1.6 1.8 2 Fig.13.(a)-(c) variation effect
Time (s) of the stator resistance on the of the stator resistance on the
Time (s)
Fig.11(a)-(d). variation effect flux and torque(DTC) flux and torque(DTC)
Fig.10(a)-(d). variation effect
of the rotor time constant on of the rotor time constant on > <
the flux and torque(DFOC) the flux and torque(DFOC)
< >
VII. DTC Behavior at Low Speed
B. Variation effect of stator resistance using DTC It is known that the basic DTC scheme is affected by
control: undesired flux weakening phenomena at low speed. In these
operating conditions the control system selects many times
The stator resistance changes with change in temperature zero voltage vectors, determining a reduction of the flux
level owing to the effects of the stator resistance voltage conditions. Summarizing, it can be said that both methods
drop. Fig. 14 shows the stator flux variations obtained by provide a high performance response with quicker torque
numerical simulations at a rotor speed of 10 rpm, and with a dynamics and less sensitivity to machine parameters in the
torque of 5 Nm. case of DTC and better steady-state behavior for FOC.
Depending on the requirements of a particular application
one method can be more convenient than the other.
Stator flux magnitude (Wb)

1 TABLE VI
0.8 PARAMETERS OF INDUCTION MOTOR
0.6
Stator resistance Rs=5,63 Ω
0.4
Rotor resistance Rr =2,62 Ω
0.2
Rotor/ Stator inductances Ls= Lr=0,382H
0
0.5 0.55 0.6 0.65 0.7 0.75 0.8 Magnetizing Inductance M=0,364 H
Time (s)
Moment of inertia J=0,010Kg.m2
Fig.14. Stator flux variations at a Viscous inertia F=0,015 N.m.s.rad-1
rotor speed of 10 rpm Rated power 1,5 kw

Finally, Table.V presents a summary of the comparison IX. REFERENCES

between DTC and DFOC not only regarding the [1]. F. BLASHKE, The principle of fiels-orientation as applied to the
performance but also considering the control structure and Transvector closed-loop control system for rotating-field machines ’ in
requirements of both systems. Siemens Reviev 34, 1972, pp. 217–220.
[2]. I. TAKAHASHI, T. NOGUCHI, A new quick-response and high
TABLE V efficiency control strategy of an induction machine ’ IEEE Trans. on
SUMMARY OF THE COMPARISON BETWEEN DFOC AND DTC Industrial Application, Vol. IA-22, no.5, Sept./Oct. 1986, pp. 820–827.
[3]. M. DEPENBROCK, Direct Self Control of Inverter-Fed Induction
Machines ‘ IEEE Trans. on Power Electronics, Vol. PE-3, no.4, Oct.
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Slower Quicker
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X. BIOGRAPHIES
Hamid Chaikhy was born in Morocco in 1975. He received B.Sc., M. Sc.
degrees from the University of ibno zohr, Agadir in 1994, 1998
VIII. CONCLUSION respectively, all in Electrical Engineering. He is currently working towards
the Doctorate degree in Electrical Engineering at the institute of electrical
This paper has presented a comparison between two and mechanical engineering (ENSEM) of the University of Hassan II,
vector control methods for IM drives: FOC and DTC. The Casablanca I. His current research interests are the areas of field oriented
controllers and motor drives.
description of both control schemes and their principle of
operation has been presented. The criterions for a fair
comparison between FOC and DTC have been established
and the results of simulation tests have been presented to
show the performance of both methods in various

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