SPACE VECTOR MODULATION TECHNIQUES BASED SPEED

CONTROL OF INDUCTION MOTOR USING DTC

V. Balasubramanian*1, K. Madhana Mohan2, Dr. Balachandra Pattanaik3, Rajalakshmy.S4,
Jeno Paul.P5, Dr.M. Kumarasamy6, Dr.S. Kaliappan7.
1
Assistant Professor, Department of Electrical and Electronics Engineering, St.Joseph's
College of Engineering, Chennai, Tamilnadu, India.
2
Department of Electronics and Instrumentation Engineering, Sri Sairam Engineering
College, Chennai, Tamilnadu, India.
3
Professor, Electrical and Computer Engineering, Wollega University, Department of
Electrical and Computer Engineering, Nekemte, Ethiopia, Africa.
4
Senior Assistant Professor, Adishankara Institute of Engineering and Technology, Kalady,
Kerala, India.
5
Professor, Adishankara Institute of Engineering and Technology, Kalady, Kerala, India.
6
Department of Computer Science, College of Engineering and Technology, Wollega
University, Nekemte.
7
Assistant Professor, Dept of EEE,Kumaraguru College of Technology, India
balaplcautomation@gmail.com *1

Abstract

For rapid torque response and seamless execution in induction motor applications,
a recommended method is using Direct Torque Control (DTC). However, the technique is
susceptible to many modulation indexes and current harmonics. Many other industrial
applications already have DTC. Modern-day harmonics that are caused by the torque-flux
plane may be avoided by a new switching desk that implements the torque-flux plane into
present-day motor drives via software modification, rather than by a hardware upgrade.
The models are visually presented using pictures of Simulink's model and motor output.
The project's major aim is to develop dynamic responses that are quick and low in
frequency and that have highly efficient controllers with minimal harmonic losses and
reduced inverter switching frequency. Additionally, a DTC control has all of the
characteristics listed above to be an effective controller. Thus, the goal here is to research
the most sophisticated IM administration approach: direct torque manipulation and see
how it performs.

1. INTRODUCTION

Due to the strong relationship between the series field current, DC motors were
used in instances when variable-speed requirements necessitated a variable-flux and torque
application. Commutators and brushes are disadvantages, which apply to DC motors. That
is, they need maintenance on a regular basis. They have limited commutated capacity in
rapid, high voltage circumstances. Electrical current motors, which have a robust
construction, a simple structure, and good maintainability, and economy, may help with
these problems. Additionally, they are sturdy and unable to be overloaded with too much
weight. When measuring the diameter of DC motors, it was found that they are quite a bit
smaller than their AC cousins.

Variable-speed AC drive applications have in the past been utilized to accomplish

simple jobs for which DC motors were incompatible due to the environment or
commutator limitations. To offset the high cost of high-speed static inverters, AC motors
also provide a low-cost option.

Despite that, due of advances in the area of power electronics, we will continue
with our pattern of power converters that decrease in cost and gradually bring power
converters to an economically appealing stage. Additionally, they're unable to function in
locations that are filthy and unsteady. There are two main categories of torque-controlled
drives utilized for high performance applications: instantaneous electromagnetic torque
controls (electromagnetic torque controls in short). Both vector and direct torque are used
with these drives. Vector-controlled drives were first made Leonhard in Germany in the
1980s. Their popularity has grown, and they have reached a high level of intelligence. An
enormous and growing global market has been created for them. Direct-torque-controlled
drives have been used in Japan for at least 10 years by Takahashi and in Germany for
around the same time by Depenbrock. Direct torque control (DTC) in a synchronous motor
requires using optimal current and voltage alternating vectors of the inverter that feeds the
motor.

The optimum current switching vectors are chosen in the case of something like a
current source inverter (CSI) fed motor, while the best voltage switching vectors are
selected there in case of a dc power supply inverter (VSI) fed motor. The first
manufacturer to use DTC on a commercial AC drive was Takahashi in 1984 &
Dopenbrock around 1985 in Germany [3]. This control method does not use PI controllers,
Pulse width modulator but also location encoders, and coordinate transformation. With this
technology, the motor torque and flux are instantly and completely controllable via optimal
inverter switching modes.

A specific subset of input motor information, including stator voltages and currents,
are used to derive the rotational speed and rotor flux. To reduce torque and flux errors, the
optimum voltage vector is chosen to have a lower torque and flux deviation, or hysteresis,
when the voltage steps change. Fast torque response in transient periods and steady state
efficiency improvements are attributed to this kind of control technique. With regards to
the study of the control strategies, it has been discovered that torque management of IM
may be done using different control methods, some of which are cheaper in terms of
Volts/Hz, and others of which are more sophisticated and involve no sensors. This is
irrespective of the approach you implement: With losses, the need for a single isolated
control technique, the additional complexity added because of coordinate translation, and
torque induced current ripple are all part of the challenges you will encounter. To achieve a
flawless electric car engine drive system, it is essential to build a controller that acquires a
high-torque engine drive system with low harmonic distortion and minimal current
distortion.

II. MOTOR DRIVE

Induction motor, inverter, flux, or torque estimation, flux controllers, tables The
DTC-based IM drive block diagram is illustrated in Figure 1. An induction motor operates
on AC power and has many benefits including simple, robust design, cheap cost, reduced
maintenance, better efficiency, and high-power factor. It has two kinds, single-phase and
poly-phase AC. From the past three decades, AC equipment such induction motors are
utilized nearly 60% to 70% of industrial applications. Induction motor may activate the
field effect on its own. In asynchronous mode, the stator voltage leads and interacts with
the rotor component to rotate the rotor. Furthermore, changes in size of induction motors
are spread out rather than concentrated. Programmable device driven drives are used to
fulfil the needs of industry today. These devices were used in drive systems that include
cranes, electric trains, fans, pumps, tractions, and more.

Figure 1: Schematic Representation of DTC Induction Motor Drive

III. TYPES OF INDUCTION MOTOR

Single-phase as well as three-phase induction motors based on the power supply

are categorized depending on the phase they're in. The building of a squirrel cage in
relation to a rotor once again falls under the topic of rotor construction. Industrial
induction motors are used because they are simple to design, build, regulate, and
maintain.
It arrives at the stator flux “ψc” and the electromagnetic torque “Me” via
calculations. Basic induction motor equilibrium condition provides estimates for the
parameters. The stator voltage "vs" and the current "is" are used as the inputs for the
state estimator. They are set in a fixed position as a stationary frame of reference. a
controller that delivers fluidity and torque the hysteresis flux plus torque controllers
receive errors of flux “e ψ” and torque “em” This control output chooses the proper
voltage vector by scanning through the switching table to find the right one. This
means that the total switches within inverter are controlled by the determination table,
which produces pulses.

Error signal combined electromagnetic torque position sector are used to create
stator voltage vectors. This circuit produces six active vectors from V1 to V6, but it
maintains the amplitude and current state of zero vector V0 and V7. The amplitude of
voltage vectors may choose V1, V2, V6 while voltage vector is rising. Alternatively, if
the voltages vectors are falling, the amplitude of voltage vectors may determine which
voltage vectors (V3, V4, and V5) are activated. Voltage vector regulates the load
torque of the motor. This device produces switching signal for the inverter based on
voltage and frequency estimator data and associated hysteresis controllers. Ensuring
the drive's efficiency means identifying the right inverter components and selecting the
appropriate management method. Inverter designed to convert DC voltage to AC
voltage with adjustable, constant frequency, as well as magnitude is known as a
Voltage Source Inverter (VSI). Switched voltage waveforms, defined by terminal
voltage switches, are most often used in flexible speed drives. Depending on the
application, the output current frequencies may be varied or constant. In three-phase
inverter, six switches (often transistors) and DC power connection are used. In order to
choose the correct inverter switch, you must determine the kind of operation, the
voltage rating, and the application.

Electrical drives deal with ac waveforms, therefore converters in ASDs should

output an operational amplifier from a dc power source. The sinusoidal amplitude,
magnitude, and time need to be adjustable. Applied to a power converter, the term "as
suggested by those AC output waveforms” refers to both voltage source inverters
(VSI) as well as current source inverters (ISI) (CSIs). Since voltage source inverters
are usually voltage sources in ASDs and industrial applications, they are extensively
utilized dc - dc converter in ASDs and many commercial uses. The demand of the
drive system is supported by the induction motor, which has at long last been
connected to the three-phase induction motor.
The stator of an induction motor contains three phase-balanced dispersed
windings, which are 120° apart in both space and rotation, with each phase separated
from the other two windings. Synchronous generator armature winding is generated
when current passes through these windings. In a flexible frequency drive system,
power electronics converters are used to control the alternative sustainable of the
induction machine. This machine comprises a feedback loop's constituent. Dynamical
performance of the machinery is complicated due to windings and coupling effect,
which varies according to the rotor position. A differential equation describes the
machine model, which involves time-changing coefficients. Assumptions are used to
calculate the control scheme of the machine:

No magnetism saturation, no saliency effects; That is, the machine inductance is

unaffected by the rotor position. In the case of the stator slots, their effects may be
overlooked. No magnetic circuit fringing. The strength of the magnetic field, which is
in a cylindrical shape with a radial axis oriented across the air gap, produces zero
alternating current and hysteresis effects.
.
 Figure 2: Dynamic Modelling of Induction Motor

The power converter provides a three-phase balanced supply to the motor. To

implement the machine two axes theory, dynamic modelling is utilized [1].
According to this theory, the time-differentiating parameters may be conveyed
via direct (d) as well as quadrature (q) pivots that are mutually perpendicular to
each other. The stator's ds but instead qs axes were indeed fixed while the
rotor's is rotating at a point. The machine factors are displayed when DC
quantities in stable equilibrium when the machine is rotating in a reference
frame that is in sync with the sinusoidal supply.VSIs maintain constant input
voltage and have independent output voltage amplitude. It would seem that, the
amplitude of the input current waveform relies on the impedance of the load. In
comparison to single-stage inverters, three-stage VSIs are frequently used to
offer customized complication capacity to mechanical applications.
The VSIs use dc power either via a battery or more often through a 3-phase
connected rectifier. A six-stage connect inverter (which includes at least two
power hardware switches such as IGBTs and Thyristor) has a three-stage
voltage suppression circuitry (commonly known as a VSI). A stage is defined as
a series of fire operations, with the first operation commencing on one switch
and then moving to the next one in appropriate order. An inverter consists of six
stages, each of which produces a 60-degree shift from its previous state for one
complete cycle of 360 degrees. If the switches are gated at interval of 60º in
correct order, that implies the three-phase voltage at the secondary terminals of
VSI would be a square wave with periods of 60º.
The diagram in Figure 4 shows the three-phase power circuit design using six
IGBTs but instead six diodes, which are synchronized to the IGBTs. This
capacitor, which is associated with the input terminals, helps maintain the
insight dc voltage consistent, as well as preventing harmonics generated at the
input terminals from returning to the dc source. Three-phase voltage is
distributed in a star configuration.
The six switching are organized into two groups: top three switches as the
positive group, and bottom three switches (e.g. S2, S4, S6) as the negative
group One gating pattern exists for the switches and it is the 180-degree
 conduction mode, while the other is the 120-degree conduction mode. The
Leveling signals are linked and evacuated 60º apart from the output waveform
in each of the examples.
Triple switches are already on at once: two are from the positive group and
one is from the negative group. Each switch's switch lead turns on and off 120º
(for one rotation) in 120º mode. However, the switch lead from the positive
group turns on for two rotations, while the switch lead from the negative group
stays on for one rotation.
However, in any of these two situations, no two switches that share a common
leg should be operated at the same time. Doing so would create a short circuit
with the dc source. Since each switch circuit completes a full 120-degree cycle
in one shot, 120 º conduction modes ensures that no voltage is applied towards
the dc voltage source for the whole cycle, thus there seems to be an interval of
60º during each process as no switch is in charging process.

Figure 3: Direct Torque Control Scheme of Induction Motor Drive

Recently, a great deal of research has been conducted in order to discover new
solutions for induction machines control. One major challenge has been to reduce the
complexity of field-oriented control, while still maximizing the attributes of accurate and
fast torque response. [3][7].

Direct torque control (DTC) has been considered the fundamental and easy method
for achieving this objective. DTC is one of the most effective and remarkable induction
motor control methods.

In this system, torque plus stator flux are separated from each other and control is
of critical importance. In conventional DTC design, the control structure's main
components are the electric power circuit, a three-stage voltage source inverter, and an
enlisting engine.

Inverter control gate pulse operation is based on gating pulses produced by the
DTC controller. All the control technique is performed in a stationary frame of reference,
thus the DTC system does not need coordinate transformation.
IV . CONCEPT OF DIRECT TORQUE CONTROL

The ultimate goal of DTC is to select stator voltage vectors that result in the
smallest torque and flux errors. To understand torque for this system, we must first
understand how the stator as well as rotor fields cooperate.

motor terminal quantities, such as voltage and current, are calculated to derive the
torque with stator motion linkage. The hysteresis controls the stator motion and torque
chooses the optimum voltage vector among all the four nonzero switching states and the
two zero voltage vectors. Fig. 6 is a visual representation of the permutations of the six
switching devices for a three-phase VSI that we saw in the previous chapter.

Every combination of the six switches has a distinct state: ON or OFF. This means
that for every conceivable configuration, there are three bits for each of the inverter legs
(Sa, Sb, Sc). When the topmost switch is shut, the bit is set to 1. Likewise, because when
base switch is shut, the bit is set to 0. The top switch is maintained in a state opposite with
that of the switch s in order to prevent short-circuiting of the supply.

Figure 4: Electromagnetic Torque

Figure 5: Rotor Speed

 Figure 6: Stator Current

Figure 7: D Axis Staor Flux

Figure 8: Q-Axis Stator Flux

Figure 9: Torque
 Figure 10: Simulation diagram of DTC

V. RESULT AND DISCUSSION

Here you get the information about the machine's rotor speed. This example
highlights the fast and accurate reaction to changes in popular torque. Despite that, torque
overshoot is accompanied by some level of performance loss. d and q axis stator currents
in Figures 8 and 9
Fig 5 and 6 illustrate the motor's electromagnetic torque and rotational speed. The
torque starts high in the accelerating zone, rises with a torque increment, and stabilizes in
the deceleration zone. Fig. 8 demonstrates that at first flux rises in transient period, and
subsequently flux is kept constant to regulate torque. As torque increases, the q-axis stator
flux changes.

VI. CONCLUSION

For all IM drives, Direct torque control is a notable controller so far. It allows
decoupled control of motor stator flux and electromagnetic torque this study shows that IM
control is simpler to perform than other vector control methods. It doesn't need a pulse
width modulator and coordinate transformations. Regardless, it provides unwanted torque
and current ripple. The Stator axis and d-hub are matched up to provide a stable reference
DTC pattern. This controls torque and flux in this reference frame. These interfaces are:
Slip frequency (i.e. greater torque response) is achieved by selecting the quickest
accelerating voltage vector. In a steady state, constant torque may be produced by keeping
the quickening vector and the zero-voltage vector both equal. To help ensure optimum
productivity in constant state and optimal torque response in the transient state, the
transition level is dynamically adjusted.
When the exchange recurrence is low, the control circuit will produce some drift,
which may be corrected efficiently. The estimate accuracy of stator flux is very critical,
since it has a direct effect on both torque and flux control loops. Use of the space vector
modulation method limits torque and current ripple.
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