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Direct Torque Control of Induction Motor

Direct torque control (DTC) and field oriented control (FOC) are two common control methods for induction motors. DTC controls torque and flux by switching inverter transistors in a hysteresis control method, estimating motor flux and torque from measured voltage and current. FOC transforms motor variables into a rotating reference frame to separately control flux and torque using PI controllers. DTC has simpler control but higher torque and current ripples, while FOC has more complex control but lower ripples. Both aim to control an induction motor's torque without requiring a shaft position sensor.

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377 views37 pages

Direct Torque Control of Induction Motor

Direct torque control (DTC) and field oriented control (FOC) are two common control methods for induction motors. DTC controls torque and flux by switching inverter transistors in a hysteresis control method, estimating motor flux and torque from measured voltage and current. FOC transforms motor variables into a rotating reference frame to separately control flux and torque using PI controllers. DTC has simpler control but higher torque and current ripples, while FOC has more complex control but lower ripples. Both aim to control an induction motor's torque without requiring a shaft position sensor.

Uploaded by

puria_rishabh
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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DIRECT TORQUE CONTROL

OF INDUCTION MOTOR
SUBMITTED BY

RISHABH PURIA
ME 2ND SEM
POWER ELECTRONICS

INTRODUCTION
First of all let us start by understanding some important
concepts related to the induction motor.
An induction motor consists of:

a).Three phase supply


b).Stator windings
c). Rotor windings-could be of two types:
1.squirrel cage rotor
2.wound rotor
Let us understsnd these by means of the diagrams:

Basic Principles of IM
s
c

r
b

Stator current produce stator


flux
Stator flux induces rotor
current produces rotor
flux
Interaction between stator
and rotor fluxes produces
torque
Space angle between stator
and rotor fluxes varies with
load, and speed

Construction
Squirrel cage rotor

Wound rotor

Notice the
slip rings

Construction
Slip rings

Cutaway in a
typical woundrotor IM.
Notice the
brushes and the
slip rings

Brushes

Rotating Magnetic Field


Balanced three phase
windings, i.e. mechanically
displaced 120 degrees form
each other, fed by balanced
three phase source
A rotating magnetic field
with constant magnitude is
produced, rotating with a
speed

nsync

120 f e

Where fe is the supply

rpm

Rotating Magnetic Field

Rotating Magnetic Field

Induction motor speed


So, the IM will always run at a speed lower
than the synchronous speed
The difference between the motor speed
and the synchronous speed is called the
Slip
n

n
slip
sync
m
Where nslip= slip speed
nsync= speed of the magnetic field
nm = mechanical shaft speed of the
motor

The Slip
s

nsync nm
nsync

Where s is the slip


Notice that : if the rotor runs at synchronous speed
s=0
if the rotor is stationary
s=1
Slip may be expressed as a percentage by multiplying the above
eq. by 100, notice that the slip is a ratio and doesnt have units

Frequency
What would be the frequency of the
rotors induced voltage at any speed nm?

fr s fe

When the rotor is blocked (s=1) , the


frequency of the induced voltage is equal
to the supply frequency
On the other hand, if the rotor runs at
synchronous speed (s = 0), the frequency
will be zero

Torque
While the input to the induction motor is electrical power, its output is
mechanical power and for that we should know some terms and
quantities related to mechanical power
Any mechanical load applied to the motor shaft will introduce a
Torque on the motor shaft. This torque is related to the motor output
power and the rotor speed
and

load

Pout

N .m

2 nm
m
60

rad / s

Variable frequency drives


control

1)Scalar control
V/f (Volts per Hertz) control

2)Vector control

(i)DTC (Direct torque control)

DSC (Direct self-control)


ISC (Indirect self control )

(ii)FOC (Field-oriented control)


Rotor Flux Oriented
Air gap flux oriented
Stator flux oriented

Now let us understand what are


Field oriented control (FOC)
(also called Flux oriented control)
Direct torque control (DTC)

Field Orientated Control


Field oriented control is also called the
vector control.
Field Orientated Control is based on three
major points:
machine current
voltage space vectors
transformation of a three phase speed and
time dependent .

Technical University Darmstadt's K. Hasse


and Siemens' F. Blaschke pioneered
vector control of AC motors starting in
1968 and in the early 1970s, Hasse in
terms of proposing indirect vector control,
Blaschke in terms of proposing direct
vector control. Technical University
Braunschweig's Werner Leonhard further
developed FOC techniques and was
instrumental in opening up opportunities
for AC drives to be a competitive
alternative to DC drives.

Block diagram from Blaschke's


1971 US patent application

The Field Orientated Control consists of


controlling the stator currents represented
by a vector. This control is based on
projections which transform a threephase time and speed dependent
system into a two co-ordinate ( d and q
co-ordinates) time invariant system.
Field orientated controlled machines need
two constants as input references: the
torque component (aligned with the q coordinate) and the flux component (aligned
with d co-ordinate)

FOC of IM drive
Choose a frame such that:

rd r

rqr 0

qs
As seen by stator reference frame:

3 p Lm
Te
( rd i sq rq i sd )
2 2 Lr

is

i sq

rq

i sd

rd

ds

FOC of IM drive
Choose a frame such that:

rd r

rqr 0

qs
Rotating reference frame:

qr

is
Te

3 p Lm
r
(r rdisq
i sq rq i sd )
2 2 Lr

r
r
isq

dr

r
i sd

ds

Direct torque control


DTC was patented by Manfred
Depenbrock in the US and in Germany,
the latter patent having been filed on
October 20, 1984, both patents having
been termed direct self-control (DSC).
The first major successful commercial
DTC products, developed by ABB
ACS800 and ACS880 drives.

Direct torque control (DTC) is one


method used in variable frequency drives
to control the torque (and thus finally the
speed) of three-phase AC electric motors.
This involves calculating an estimate of
the motor's magnetic flux and torque
based on the measured voltage and
current of the motor.

METHOD OF DTC..
Stator flux linkage is estimated by
integrating the stator voltages.
Torque is estimated as a cross product of
estimated stator fluxlinkage vector and
measured motor current vector.
The estimated flux magnitude and torque
are then compared withtheir reference
values.

If either the estimated flux or torque deviates from the


reference more thanallowed tolerance, the transistors of
the variable frequency drive are turnedoff and on in such
a way that the flux and torque will return in their
tolerancebands as fast as possible
Thus direct torque control is one form of the hysteresis
control.
The direct torque method performs very well even without
speed sensors.

PROBLEMS WITH DTC


The problems associated with the DTC drives are: Variable switching frequency due to the hysteresis
comparators usedfor the torque and flux comparators
This problem can be easily done away with adopting
space vectormodulation.
This technique is adopted to maintain a constant
average switchingfrequency.
Inaccurate stator flux estimations which can degrade
the driveperformance.
The inaccurate flux approximation can be avoided by
using a low passfilter instead of using an integrator
because of which the problem of driftarises.

Disadvantages
Vector control:

DTC

Greater parameter
sensitivity
Commissioning problems
with the setting up of
current control loops.
Complex architecture.

Loss of flux at low


speed/loads.
Higher torque and current
ripples.
Uncontrolled current
transients.

References
Field-Oriented Control of Induction Machine Dr. Nik Rumzi Nik Idris
Department of Energy Conversion,
Faculty of Electrical Engineering Universiti Teknologi Malaysia.

DIRECT TORQUE CONTROL OF MULTILEVEL INVERTERFED


INDUCTION MACHINES A SURVEY

1NAZIHA AHMAD AZLI, 2NORJULIA MOHD NORDIN, 3NIK RUMZI NIK IDRIS
Universiti Teknologi Malaysia, Faculty of ElectricalEngineering, Department of Energy
Conversion, UTM
Skudai, Johor, Malaysia.

Wikipedia.

Google images.

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