MODELLING AND SIMULATION OF DIRECT

TORQUE CONTROL OF INDUCTION MOTOR

A Proposal report submitted to the

SCHOOL OF ENGINEERING
FACULTY OF SCIENCE AND TECHNOLOGY
POKHARA UNIVERSITY, NEPAL

By
Aman Kumar Jha (2021-1-48-58)
Pintu Kumar Sah (2021-1-48-76)
Rakesh Yadav (2021-1-48-0081)
Shivji Mandal (2021-1-48-0092)

In partial fulfilment of the requirements

For the award of the degree of
BACHELOR OF ELECTRICAL AND ELECTRONICS ENGINEERING

January, 2025
 MODELLING AND SIMULATION OF DIRECT
TORQUE CONTROL OF INDUCTION MOTOR

Supervised by Purna Bahadur Pun

A Proposal report submitted in partial fulfilment of the requirements for

the Bachelor Degree in

Electrical and Electronics Engineering

By

Aman Kumar Jha (2021-1-48-0058)

Pintu Kumar Sah (2021-1-48-0076)
Rakesh Yadav (2021-1-48-0081)
Shivji Mandal (2021-1-48-0092)

School of Engineering
Faculty of Science and Technology
Pokhara University, Nepal

January, 2025
 Table of contents

Abbreviations

CHAPTER 1:

INTRODUCTION
1.1. Background
1.2. Statement of problem
1.3. Research objectives
1.4. Significance/Rationale of the study

CHAPTER 2

LITERATURE REVIEW

CHAPTER 3

METHODOLOGY
3.1. Study area
3.1.1. Sub-section
3.1.2. Sub-section
3.2. Data collection
3.2.1. Sub-section
3.2.2. Sub-section
3.3. Section
3.4. Section
3.4.1. Sub-section

CHAPTER 4

Tentative Time Schedule

REFERENCES
 CHAPTER 1

INTRODUCTION

1.1 Background

An induction motor is one of the most widely used type of electric motors in
industrial applications due to its robustness , simplicity and cost effectiveness . it
operates on the basis of electromagnetic induction . There are two types of
induction motors and are commonly mentioned as to be squirrel cage design and
wounded rotor . The induction motor are widely utilized in industrial applications
due to their durability efficiency and low maintenance requirements . they are
commonly used to drive equipments such as pumps , compressors , conveyors
and fans which are essential in manufacturing , chemical processing and power
generation industries . Their ability to handle varying loads and operate in harsh
environments makes them an i ideal choice for industrial process [ 1 ] .

1.2 Statement of the problem

Depending upon the fact that the industries in the modern times have been
greatly depended on the torque control techniques for the smooth and reliable
operation. here are some common torque control techniques in induction motors
with the detailed explanation as per of the currently used topologies , starting of
from the very first process called to be ::

Rotor resistance control ; in the following method by varying the rotor resistance
through external resistors , the torque can be controlled , The following methods’
main boon is that it is useful for starting and speed control but howsoever , it
carries a lot of disadvantages as well as high energy loss due to resistors and
limited to specific motor types along with a quite low efficiency .

The other method significantly used is ( field oriented control method ) which is a
technique primarily used to have and allow the sophisticated control method for
AC motors in terms of its speed and torque . The major advantage of the
following method is that it has a very high efficiency with the followed up
optimized motor performance and following its boon it has some of the major
disadvantages as well such as complexity of implementation , high computational
requirements , excessive cost of sensor and hardware , tuning and stability
issues , increased developmental time , susceptibility to noise and disturbances
etc etc.

Finally, in extend to the resources available in Nepal the other mainly used torque
control method is voltage control method , which involves varying the applied
voltage to control the motor’s torque output . its is one of the simplest and low
cost control procedure , in response to this the major drawbacks that it serves are
reduced efficiency , limited torque control range , poor dynamic performance ,
harmonics and noise etc .

Each of these techniques offers a balance between complexity, cost, and

performance, and their suitability depends on the specifics of the system on the
basis of which it is operating but however , all those above mentioned methods
cannot be used in the overall processes and in the following conditions the DTC
can be taken under consideration for fulfilling the needs and demands that the
system requires .

The Direct torque control (DTC) offers several advantages over other torque
control techniques like Field-Oriented Control (FOC) or scalar control as in
compared to that of the other techniques which are the fast Dynamic Response
where it provides a rapid response to changes in load and torque demand. This is
due to its direct control of motor torque and flux without requiring complex
coordinate transformations or modulation with the simpler implementation
unlike FOC, which relies on multiple reference frame transformations and a PI
controller, it eliminates the need for these components. This simplifies the control
algorithm and reduces computational requirements . The following procedure
captures and manages the efficiency at low speeds which excels in maintaining
torque control even at low speeds or during standstill, where other methods may
face challenges due to flux weakening.

Research objectives
The main objective of this project is

i. To simulate the torque control of induction motor using DTC technique using matlab .

1.3 Significance/Rationale of the study

The significance of Direct Torque Control (DTC) for induction motors lies in its ability to provide
precise, dynamic, and efficient motor control. Key benefits include:

i. Fast Torque Response: DTC allows rapid changes in torque, making it ideal for
applications requiring high dynamic performance, such as robotics and servo systems.
ii. Simplified Control: Unlike vector control, DTC eliminates the need for complex
coordinate transformations and modulators, simplifying implementation.
iii. Improved Efficiency: By directly controlling the stator flux and torque, DTC minimizes
energy losses and enhances overall system efficiency.
iv. Reduced Dependence on Motor Parameters: DTC relies less on detailed motor parameters,
improving robustness against parameter variations and external disturbances.
v. Low Switching Frequency: The method reduces the switching frequency of inverters, extending
their lifespan and lowering electromagnetic interference.
vi. These features make DTC a preferred choice in industrial drives, electric vehicles, and high-
performance motor control systems.
 CHAPTER 2

LITERATURE REVIEW

To ground this proposal, many prior art research papers have been read to distilled into three
main topic points. First, understanding and modeling the performance of the uncontrolled
induction motor, and especially the dynamic (mathematical) representation via MATLAB/
SIMULINK for the dynamic electromechanical coupled equations and studying the assumptions
in the modeling procedure of Direct Torque Control methodologies were studied using different
analytic techniques [3]. The importance of the equivalent electrical circuit of three phase
induction machine in dynamic modeling has been explained in [13] as well as the utility of the
d-q transformations. Those transformations can be done in three main reference frames which
are stationary at (startup), synchronous (at steady state) and rotor reference frame (during
speed changes) as shown in [10]. Stationary and synchronous reference frames are the most
commonly used. The representation of the mathematical model in different reference frames
are explained as well as the step by step procedure of established MATLAB/SIMULINK
rotational dynamic models illustrating the simplicity of using SIMULINK[12], [7].The basic idea
of Vector control for induction motor control is explained in both reference frames in [11]. The
latter paper explains vector control concepts allowing the induction motor, to behave as a
simple separately excited DC motor. It also details the established motor control method, the
“scalar control method”, which controls only the magnitude of the voltage with a fixed
frequency. This proposal also derives the torque equations and then explains the two different
ways of applying this control method in many different motor classifications. Finally, it
compares actual and simulation results. A different approach, a fuzzy controller, was introduced
in [11], where the of Vector Control method provided in differences between measured and
simulated data for input to the PI controller in torque control loop. The disadvantage of the
Field Orientation Control is that this method is sensitive to the changing dynamic parameters,
being dependant on the rotor time constant [8]. FOC or, decoupling control, employs a clever
mathematical coordinate transformation, to convert the three phase ac to two orthogonal dc
components. The abc to d-q transformation, which is called Clarke Transformation, and vice
versa, which is called inverse Clarke Transformation, are explained 4 and modeled using
SIMULINK [9]. In this way one can decouple the stator

flux and the torque so they can be separately controlled. Induction motor drives may be
classified into two main control strategies. Scalar control, of the voltage magnitude and
frequency is one. A second is controlling both the voltage vector and the frequency, which can
be FOC or Direct Torque Control (DTC). In the research papers [16],[17] DTC principles are
introduced, which allow keeping the flux and the torque falling in pre-established bands and
using the hysteresis control via a switching table. The idea of Space Vector pulse Width
Modulation (SV-PWM) which is used to defined the state of the inverter switching and the
voltage vector. SVM is explained in detail in [14] and modeled using MATLAB. Another
comparative study was conducted [15] to explore the difference between the conventional DTC
and the DTC adding a PI controller, which is used in this thesis to get better reduction the ripple
in the resultant flux and torque. One motivation for doing this thesis as a comparative study
between FOC and DTC, is that few research papers were published on this topic as a
comparative study and I judged it was ripe for a detailed study to explore future control
approaches. As Many papers, on the other hand, were written about DTC and FOC individually
and using many types of controllers trying to improve the performance of those methods of
motor control. The other motivation is that all those papers and studies were done based on
the performance comparison only assuming that everything is in normal operation which is not
always the case. Therefore, two power quality issues are included in these comparison studies
which are the voltage sag and short interruption. A theoretical comparative study between the
DTC on one hand and other methods of motor drive has been done [18], explaining the basic
principles of DC drive, scalar control, flux vector control, as well as direct torque control.
Another comparative study between FOC and 5 DTC outlined the characteristics of the control
algorithms, dynamic electromechanical response, and the sensitivity analysis of changing
parameters in the implementation [19]. The latter paper uses Simulink in the comparison as
was the inspiration for this thesis except this paper used the built in induction motor block
which is different than what I used as a mathematical model to get more precise results in the
case of unbalanced voltage and parameters changing. Finally the last prior work, [20], focuses
on the similarities between FOC and DTC by reexamining the basic principles between both and
studying how combine the two to make a both more accurate and faster control algorithm.
Based on that, this study has been compared with the other.
 CHAPTER 3

METHODOLOGY
3.1 Flow Chart

Start

Literature Review

Mathematical modelling of induction motor and

controller and VSI

Simulate the DTC Induction Motor based on the

Simulink model
 Compare the
result with
reference

Result and analysis

End

This flowchart outlines the process of designing and simulating a DTC Induction motor. Here is a
step-by-step explanation:

1. Start: The process begins.

2. Literature Review: Conducting a comprehensive review of existing research and studies

related to DTC induction motors. This provides the foundational knowledge and insights needed
for further steps.

3. Understand the Mathematical Equation of Induction Motor and Controller Needed:

Analyzing and understanding the mathematical models and equations required to describe the
behavior of the induction motor and its control system. This step is crucial for accurate
modeling.

4. Design the DTC Induction Motor Based on the Equation and Parameter: Using the equations
and parameters derived in the previous step to design the DTC induction motor.

5. Simulate the DTC Induction Motor Using MATLAB Simulink: Implementing the design in
MATLAB Simulink to simulate the motor's performance and validating the design.
6. Compare the Result with Existing: Evaluate the simulation results by comparing them with
the reference data to ensure the design meets the required performance criteria.

If the results are not satisfactory, iterating back to redesign or adjust parameters.

7. Result and Analysis: Document and analyze the final results to derive meaningful conclusions
about the motor's performance.

8. End: The process concludes.

This flowchart provides a structured approach to developing and validating a DTC induction
motor system.

3.4 PI controller
A PI controller (Proportional-Integral Controller) is a fundamental control strategy used in
control systems to regulate processes. Mathematical modeling of a PI controller involves
understanding its behavior in both time and frequency domains.

Mathematical Representation

The PI controller combines proportional and integral actions. Its control signal u(t) is given by :

u(t) = Kp e(t) + Ki ∫ e(t) dt … (3.1)

where:

● u(t): Control signal (output of the controller).

● e(t): Error signal (e(t) = r(t) – y(t), the difference between the reference r(t) and the
process output y(t)).
● Kp: Proportional gain.

● Ki: Integral gain.

Transfer Function of a PI Controller

In the Laplace domain, the PI controller is represented as:

 Ki
C(s) = Kp + s … (3.2)

Figure 3.1: Block Diagram of PI Controller

3.5 Estimation of Machine’s Flux and Torque

The estimation of the actual flux and torque of the machine is the first step in the DTC method.
It is based on the measured values of stator voltages and currents. These currents are then
transformed into two phase stationary system. The two phase stationary coordinates can be
given by:

[ Vqs Vds ] = 2/3[ 1−1/2−1 /2 0−√❑ ] [ Vas Vbs Vcs ] … (3.3)

The three phase current can also be transformed into two phase using the same matrix
equation such that:

2
[ iqsids ] = [ 1−1/2−1 /2 0−√❑ ] [ iasibs ics ] … (3.4)
3

As it is well known that the measured values of voltage are not the electromotive forces
generated inside the stator unless the stator resistance is neglected. The measured voltages are
equal to:

Vqs = Eqs + Rs iqs

Vds = Eds + Rs ids … (3.5)

As the induced voltage is equal to the derivative of the changing flux, Tte stator generated
voltages (Electromotive forces) are given in function of the stator flux by:

d
Eqs = - Φ =V -R Φ
dt qs qs s ds

d
Eds = - Φ =V -R i … (3.6)
dt ds ds s ds

Clearly, the stator flux can be found by integrating the above equations to give:

Φqs = ∫ (Vqs - Rs iqs) dt

Φds = ∫ (Vds - Rs ids ) dt … (3.7)

The estimated flux can then be transformed into modulus and angle preparing for hysteresis
control. The modulus and angle of the flux are given by:

Φ = √[(Φqs)2+(Φds)2]

Y = tan-1 ( ΦΦ dsqs ) … (3.8)

The developed torque of the machine can then be estimated using the next equations:

τme = 1.5P(Φdsiqs - Φqsids) … (3.9)

3.6 Hysteresis Controller

Each one of the estimated flux and torque values will be compared with its reference. The error signal is
to be generated and passed through a hysteresis controller that determines the suitable output based
on the error value and direction. Two hysteresis controllers are used in the DTC control, one for the flux
and the other for the torque hysteresis.

3.7 Torque Hysteresis

This is a three level hysteresis whose output can be one of three digital outputs. The input of this
hysteresis is the torque error while its output is the status of the torque error dTe. A predetermined
band is used to decide the output status. Whenever the torque error is out of the band limits, the
output is not equal to zero. Figure 3.2 shows the principle of torque hysteresis controller. The three
status of the output are determined by:
 … (3.10)

Figure 3.2: Principle of torque hysteresis control

3.8 Flux Hysteresis Controller

This is a two level controller based on the same principle of the torque hysteresis controller.
The output of the controller can be either 0 or 1. Figure 3.3 shows the hysteresis controller of
the flux error. The outputs of the controller are given by:

… (3.11)

Figure 3.3: Flux hysteresis controller structure

 Figure 3.4: Incremental stator flux linkage space vector demonstration in DQ plane

The angle of the flux vector is also determined and the 360 degrees are divided into six
sectors60 degrees each. The control of the voltage source inverter is determined by using a
look up table for the sector, flux status, and torque status. The look up table is as follow:

Table 3.1: Look up table for flux and torque hysteresis

3.9 Torque and Flux Reference Generation

The control of induction motor speed implies the measurement of the speed. The measured
speed is compared with the desired speed. The error between desired speed and actual speed
is fed to a speed controller whose output determines the torque reference of the induction
motor. Figure 3.5 shows the speed control of induction motor and torque reference generation.

Figure 3.5: General structure of DTC control including the use of a controller

3.10 Voltage Source Inverter

The voltage source inverter produces voltage vectors controlled by the lookup table block. The
idea of the VSI is to switch positive and negative voltages on and off in high frequency to
produce the required AC voltage. It is used in generating AC voltage from DC source or
capacitor bank. The VSI is composed mainly of six power switches controller in opening and
closing; these switches are connected in anti-parallel with recovery diodes. Figure3.6 presents
the general structure of a simple voltage source inverter (Rashid, 2010).

Different controls are used to control the output voltage/current of VSI such as PWM and
hysteresis control. The common thing is that each two switches of the leg are complimentary to
each other. That means they can’t be on in the same time. The DTC method is a very simple
method in terms of VSI control because it doesn’t need any PWM signal generation in general.
The output voltage vector is kept constant during the sampling period with no need to apply
other vectors. The phase output voltage of the VSI can be given in terms of DC source voltage
and switches states as follow (Rashid, 2010):
 Figure 3.6: Voltage source Inverter general structure

3.11 Modeling of Induction Motor

3.11.1 Equivalent Circuit of an Induction Motor

Three phase induction motor is similar to three phase transformer (Austin and Drury, 2013).
The primary of the transformer is the stator winding of the motor, while the secondary is
present in form of a rotating part (rotor) the magnetic core resides in two parts which are the
laminations of the stator and the air gap that separates the rotating part from the fix part of the
motor. Just as in the transformer, the equivalent circuit of an induction motor can be given as
shown in Figure below:
 Figure : Equivalent circuit of a three phase Induction Motor (one phase referred to stator)

Where Rs and Xs represent the stator impedance, Xr and Rr/s are the equivalent impedance of
the rotor referred to the stator side. Xm represents the equivalent reactance of the
magnetization circuit while Rc is the equivalent resistance for the iron losses. The parameters of
the equivalent circuit of the induction motor can be found easily using a no load and short
circuit (locked rotor) tests just as in the transformer (Wildi, 2002).

3.11.2 Torque in an Induction Motor

The equivalent circuit of an induction motor can help in calculating the torque and current of
the machine. Assuming that the three phase of the induction motor are balanced, each one of
these phases will share one third of the delivered power of the motor. The total delivered
power is given by:

Pmec = Tmec ωmec … (3.12)

The developed mechanical torque can then be given by:

Tmec = Pmec /ωmec …(3.13)

The power can be also given in function of the rotor resistance and the current by:
 … (3.14)

An approximate expression for the rotor current can be obtained from the equivalent circuit and given
by:

… (3.15)

And the torque is then given by (Chapman, 2005):

…(3.16)

2.5 Formulation and Model of the Induction Machine

The static and dynamic study of any system implies the ability to model that system and describe it
using mathematical equations. In order to do so, the general model of an electrical machine will be
studied in three phase reference. Then the three phase model will be 12 simplified in two phase model
form which is more suitable for our control purpose. As we said earlier in this chapter, the three phase
machine has a fixed part called stator and a rotating part called rotor. The stator carries the windings of
the machine separated by 120 degrees. In the aim of simplifying the study of the model of the machine,
the next hypothesis will be accepted (Krause et al., 2002).

1. Symmetrical air gap.

2. Neglected effect of laminations.
3. Sinusoidal flux distribution in the air gap.
 4. Magnetic circuit in the linear zone of the curve.

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