HYSTERESIS BAND DIRECT TORQUE CONTROL OF A THREE-PHASE

INDUCTION MOTOR USING PI CONTROLLER

1.0 INTRODUCTION
In industrial applications, induction motors are widely applied because they are rugged, simple
and very reliable in design, robustness, broad speed range, lower maintenance as well as a
negligible noise with respect to torque ripple noise which is its distinctive feature. It is more
effective and reliable in transient load conditions than other drive systems, helping to accelerate
the inertia of high loads with greater speed and accuracy. Induction motors do not usually operate
at synchronous speed, as they are normally driven by a fixed speed [1].
The need for speed control methods in induction motors has therefore arisen to ensure the proper
use of this drive system. Since in the industrial sector, the mechanical load must not only be
driven, but must also be driven at the desired speed. There are currently several methods of
controlling induction motors, which include; stator voltage control, supply speed control, rotor
resistance control, Scalar Control and Vector Control each has its own merits and drawbacks [2].
Direct torque control (DTC) is a method of AC drive control specially designed for rapid and
reliable responses, in particular in high power applications [3]. DTC offers a number of obvious
benefits, including the fact that they do not require multiple motor parameters to be used in their
control structure, which makes it possible to modify parameter independence and provide an
extremely quick and precise dynamic response [4]. However, there were still a number of
disadvantages to the existing DTC system. Recently, various techniques were proposed for
improving DTC performance through the addition of variable hysteresis bands and intelligent
control methods to improve DTC controlled IM dynamic response capabilities [5].
This paper presents a hysteresis band control strategy improvement by using PI controller.
Thereby reducing the torque ripple, the impact of torque variation on the flux and maintaining a
constant torque switching frequency.

2.1. Direct Torque Control (DTC) Method Overview

With the use of DTC, torque and flux are controlled separately. Without a modulator, the DTC is
independently managing the motor's torque and responds significantly faster. In order to
accurately forecast stator flux and motor torque, Direct Torque Control uses two control loops, a
speed loop and a torque loop, in combination with a sophisticated motor model [6]. The fact that
it has two features makes direct torque control stand out from its competitors. Firstly, without the
use of speed or position encoders, it is possible to control directly torque with no sensors. Just a
measure of voltage and current is required. This will save costs and increase the reliability of the
system [7]. It has the added benefit of being notably more torque sensitive because it does not
handle direct torque using pulse-width modulation or PWM modulators. The second difference is
that since direct torque control does not require a pulse-width modulator (PWM), it improves
torque responsiveness. Furthermore, it provides complete starting power that is available from
zero speed to this speed as well as precise torque and velocity control at extremely low speeds of
[6, 8,].

Figure 1. Closed-loop induction Motor Drive Control System [9].

2.2. Hysteresis Band Control Strategy

The hysteresis band method is often used in a closed loop control system because it is both
simple and efficient. A hysteresis loop may be used to operate the reactor in any of its two
operating modes, Off or On. The power plant will run in one of two modes depending on
whether the feedback signal is above or below a hysteresis band that has been developed. [10].
Nonlinear hysteresis controllers are often utilized in the field of electric energy supply due to a
number of key benefits, including ease of installation, performance of time response, and
resilience [11]. In a direct torque control system, the goal is to use hysteresis comparators to
minimize both the stator flux and torque error from zero in order to choose the ideal voltage
vector. Hysteresis is used to stop the needless switching of power equipment with each new
update or switch decision [12].

Figure 2: Block diagram of two-level Hysteresis Band Control [12]

Figure 3: Block diagram of three-level Hysteresis Band Control [12]

3.0. Materials and Method

Three-phase induction motor control characteristics have been modeled. A method for hysteresis
band direct torque controls has been devised for efficient drive system control. To improve the
performance of the suggested control method, an intelligent control system called the PI-
Controller has been implemented into this design. This is where this paper excels.
Matlab/Simulink software was used to implement the drive system, the planned control systems,
and the enhanced intelligent controller scheme.
A closed-loop induction motor drive control system is depicted in Figure 1 and includes a
switching table, an inverter system, torque and stator flux estimators, torque and flux hysteresis
comparators, and torque and flux estimators.

3.1. Stator flux and Torque Estimation

The stator flux vector of an induction motor is estimated by integrating the stator voltages and
current vectors [3].
ѱ s ( t )=∫ ( v s ( t )−Rs i s (t) ) dt (1)
Where ѱ s ( t ) is the stator flux vector, v s (t ) and i s (t ) are the motor stator voltage and current
vector respectively, and R s is the motor stator resistance.
The estimation of stator flux using equation (1) can be separated into the estimation of D and Q
axis of stator flux as follows;
ѱ sd ( t )=∫ ( v sd ( t )−R s i sd (t) ) dt (2)

ѱ sq ( t )=∫ ( v sq ( t )−R s i sq (t) ) dt (3)

The components of stator current and stator voltage in DQ coordinate can be simply calculated
using the following equations;
i sd=i a (4)
( ia−2i b )
i sd= (5)
√3
1
v sd = v ( 2 v a−v b−v c ) (6)
3 DC
v sq=√ 3 V DC ( v b −v c )
1
(7)
The electromagnetic torque can be expressed according to the space vectors of the rotor flux and
stator as follows;
3 3
T e = P ( ѱ s−i s )− P [ i qs ѱ ds −i ds ѱ qs ] (8)
2 2
3 3
= P ѱ s i s sin ( θis −θѱs ) = P ѱ s i s sin δ (9)
2 2
Where T e is the electromagnetic torque, p is the motor pole pair, ѱ s is the stator flux vector at
the d-q coordinate, ¿ δ - angle between the rotor flux vector and stator current vector. Equation
(9) can be transformed to give;
3 Lm
Te = P ѱ ѱ sin ( δ ѱ ) (10)
2 Lr Ls −L2M s r

Where δ ѱ - the angle between the rotor and stator flux vectors

δ ѱ = tan−1
[ ]
ѱ qs
ѱ ds
(11)

Where Ls , Lr , and Lm are the motor stator inductance, and mutual inductance respectively, and ѱ r
is rotor flux linkages amplitude.
3.2. Torque and Flux Hysteresis Comparators
From Figure (1), The reference values for the stator flux amplitude and the electromagnetic
torque are compared with the estimated values. The flux controller is a comparator of two levels
while the torque controller is a comparator of three levels, as shown in figure (2) and (3).[3].
The flux controller's digitized output signals are described in equations (12) and (13).
ref
ѱ stat=1 f ∨ѱ s <ѱ s −H ѱ (12)

ref
ѱ stat=−1 f ∨ѱ s <ѱ s + H ѱ (13)

And those of the torque controller are stated in equation (14), (15), and (16)

ref
T stat =1 f ∨T e <T e −H m (14)

ref
T stat =0 f ∨T e =T e (15)

ref
T stat =−1 f ∨T e <T e + H m (16)

Where 2 ѱ m is the torque tolerance band and 2 H ѱ is the flux tolerance band

3.3. The PI-Controller Structure

A typical technique in control systems to adjust for discrepancies between the requested setpoint
and the actual value based on feedback is the PI-Controller. A PI controller aids in lowering the
system's rise time and steady state errors [13].
In mathematical terms, the proportional term (Pout) is expressed as: [13]
Pout = Kp ×e (17)
Where:
Pout: Proportional portion of controller output
Kp: Proportional gain
e: Error signal,
e = Set-point – Process Variable
The shorter the reset rate the quicker the correction of an error, most of today’s applications use
software-based control such as [14].
1
I out =
Ti
∫ edt = k i∫ edt (18)
Where:
About: Integral portion of controller output
Ti: Integral time, or reset time
Ki: Integral gain
e : Error signal, e = Set-point – Process Variable

Figure 4: Standard PI controller Structure [14]

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