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The Comparison of Field Oriented Control and
Direct Torque Control Methods
Yavuz SER #1, Kayhan GLEZ*2, kr ZEN#3
#
Vocational School of Technical Sciences, Department of Electric Electronic Engineering
Akdeniz University, Turkey
yuser@akdeniz.edu.tr, sukruozen@akdeniz.edu.tr
*
Department of Control and Automation Engineering
gulez@yildiz.edu.tr
Yldz Technical University,Turkey
Abstract- In this study, two methods which reduce torque ripple in 1984 is frequently used in induction motors which are
and harmonics of the squirrel cage asynchronous induction motor widely used in industrial drives. DTC has features such as
with rotor of short circuit 3 phase are examined. These methods
are the field oriented control (FOC) which is a standard way of fast dynamic torque response, adaptation to parameter
induction motor vector control and the direct torque control of transitions without current sensors. Furthermore, DTC can
induction motors (DTC). Both methods are defined with control be implemented easily by only using two hysteresis band
equations and block diagrams and they are simulated via using controllers and a look-up table for selecting appropriate
MATLAB Simulink. Results of simulations are compared voltage vector. One of controllers is a two-level hysteresis
considering two methods and their characteristics. Motor
parameters, reference flux and torque values of motor and load controller for flux and other one is three-level for torque [9].
torque value of both methods are arranged to be same for the New methods for reducing torque ripple and harmonics
comparison. should be developed so as to produce desired torque,
Keywords- Induction motor, direct torque control, Field oriented
increase the reliability of control system, maintain a high
control, Launberger observer. lifespan for the motor, decrease harmonics which affects
other devices of the same system with the motor, and reduce
mechanical vibrations and resulting noise [2].
I. INTRODUCTION .
Induction motors are widely used in industrial applications II. VECTOR CONTROL OF INDUCTION MOTORS
due to their simple structure and lack of maintenance necessity.
Induction motors are alternating current motor where electrical Speed control of induction motors is controlled by
power which is created by its stator windings is converted to modifying voltage, frequency and resistance of the stator and
mechanical power using rotational motion of the rotor and as a poles of stator windings. The method in this study enables us
generator, electrical power in its stator windings are produced to control speed by changing frequency and amplitude of
by converting mechanical power of rotational motion of the stator voltage. Here, frequency is switched with amplitude to
rotor. Induction motors have been produced from several Watt prevent increase in torque and flux with speed control.
motors to 300 MW motors. As a generator, the voltage of stator Because, in order to change motor speed while fixing the
windings can be up to 22 kV. Considering all rotating electric value of voltage amplitude with reducing voltage frequency
motors, induction motors are least expensive with rugged cause to drawing excess input current. Therefore, vector
construction and less maintenance requirements and they run on control techniques can be used.
AC power which is cheaper and easy to produce and distribute. Because of nonlinear structure, complex control and
Recent technological developments in micro processors and transformation algorithms are required for induction motors.
power semiconductor devices enable the implementation of Disengaged excitation direct current motors have linear
advanced control techniques to the AC motor drive systems. structure. Thus, with fixing flux current and resulting torque
Desired control of motor while it is working is provided with can be controlled linearly at the same time. Control of torque
the help of these techniques. A fast dynamic torque response via current provides quick response to torque variations.
and robustness is essential for motor applications with wide Armature axis and excitation axis are perpendicular. Flux is
powerful bandwidth [1]. produced by excitation. In DC motors, a constant excitation
For instance, while a crane with a lifting capacity of tons flux can be created with setting a constant current value. We
unloads a heavy load, the sensitivity of the load placement is can draw an analogy between DC motor and control of
correlated with instantaneous torque of motor shaft. Therefore, induction motors considering equations for armature and
the torque ripple produced by the motor should be minimized excitation of DC motor [7]. Armature and excitation axis
while adjusting low torque ripple characteristics. Devices which corresponds to d-q axis of inductor motors. between d-q axis
are used to provide power control on electric motors should plane and voltage and current of stator is shown in the
have high level torque smoothness to satisfy customer needs. Equations (1) and (2). Where Vs0, is0 are initial stator voltage
Different control techniques are developed in order guarantee and current, Vsd ,Vsq are stator d-q voltage, Vas, Vbs, Vcs are
robust operation for induction motors in various speeds. Direct stator a-b-c phase voltage, isa, isb, isc are stator a-b-c phase
torque control developed by Depenbrock, Takashi and Noguchi current isd, isd are stator dq current, rd, rq are d-q axis plane
matrix values during motors operation, shall cause error in
1 1 1 the observer results as well. To correct the observer error,
2
Vs 0 2 2 Vas the observer error is multiplied by the observer gain matrix
2 2 and added to the observer again. Thus, the values calculated
V =
sd Cos Cos ( ) Cos ( + ) Vbs (1)
3
s s s
3 by the observer are ensured to achieve real values promptly.
Vsq Vcs
2 2
Sin s Sin( s ) Sin( s + ) Then, state variables are as the following.
3 3 x& (t ) = Ax(t ) + Bu + Le
(3)
y (t ) = Cx(t )
1
Cos s Sin s x is state vector, A is system matrix, B is input matrix, C
isa 2 is 0
2 1 2 2 (2) is output _matrix, u is input vector,
_
y is output vector, gain
isb = Cos ( s ) Sin ( s + ) isd
isc
3 2 3 3 i matrix is L , observer error is e and the observer model is
sq
1
Cos ( s
2
) Sin ( s +
2
)
seen below.
3 3
2
L11 L12
L L22 i is
L= , e = 1 = y y = s
plane flux values, s=s is the angle between rotating d-q axis 21 e
(4)
and alpha-beta axis of the stator. Induction motors do not have L31 L32 e 2 is i s
two current components that can separately control flux and
torque. There is only stator current. Stator current contains L41 L42
_
amplitude, frequency and phase information due to its being a The values calculated in the observer are marked with .
R L mR'r Lm
sinusoidal current. The controllable part is current vector which E 0 p
is defined with values, amplitude and phase. This procedure is Ls Ls L'r2 Ls L'r
1
0
vector control. Stator current vector of induction motor has two is RE L L mR'r is Ls L11 L12
0 p m
perpendicular components one of which constructs flux and the d is Ls Ls L'r Ls L'r2 is 1 Vs L21 L22 e1
= +0 +
other constructs torque similar to armature and excitation dtr L R' R' r Ls Vs L31
L32 e2
m r 0 r p
currents of DC motors. This operation is flux based since stator r ' r 0 0 L41 L42
Lr L'r
current is divided into components with respect to flux. If flux ' 0 0
0 L mRr R'r (5)
is fixed with the help of current component that is in same p
L'r L'r
direction with flux and other component of current is used to
adjust linear torque, induction motor can have a quick response i s
to speed reference variations and load torque variations. is 1 0 0 0 i s
= (6)
2.1. Field Oriented Control Method is 0 1 0 0 r
This is the first applied method that is carried out by German r
scientist F. Blaschke. Blaschkes proposed method is attained and = tan 1 r s = s (7)
r = r2 + r2 = rd
by measuring rotor flux and air-gap flux sensors. The air gap
r
s
s = ( s2 + s2 ) (14)
0 0
Mref-Me= Ms ref-e= s
-1
Figure 3. Direct torque control method block diagram
This may be realized by using motor model on the - axis
set. Stator flux, torque and stator flux sector zone may be
calculated with the help of currents and voltages measured in Figure 5. Hysteresis blocks which are applied Flux and torque error
the motors stator as the following [3]. Figure 5 is hysteresis block schema on which flux and
d s torque errors are applied and the signs produced by these
vs = Rs is + (9) blocks are used in addressing switching board. Hysteresis
dt band widths are symbolized with s and M s for flux and
d s (10) torque respectively.
vs = Rs is + Switching series applied on the inverter input is so selected
dt
M e = p (is is is is )
that the fastest responses are provided for flux and torque
(11) errors within the given limit values with highest efficiency.
(v R i )dt
Table 1, which is seen below, shows switching logics when
s = s s s (12)
the motor is desired to rotate clockwise and counter-
clockwise
TABLE I 10
OPTIMAL SWITCHING LOGICS FOR MOTOR ROTATING Reference
(1) (2) (3) (4) (5) (6) Observer
Motor
=1 V5 V1 V3 V2 V6 V4
=0
5
V7 V0 V7 V0 V7 V0
=0
=-1 V6 V4 V5 V1 V3 V2
=1 V1 V3 V2 V6 V4 V5
0
=1
=0 V0 V7 V0 V7 V0 V7
=-1 V2 V6 V4 V5 V1 V3
. -5
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
in the full text. Same motor parameters were used in both of 100
Simulink schemas. 80
The observer was used to find rotor flux amplitude,
60
conversion angle from d-q to a-b-c and torque, which are not
measurable, by using the measured current and voltage values
40
- axis set was used in the observer. Flux and torque values -20
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
were calculated in the observer for comparison with reference
flux and torque values. Thus, motors torque and flux are direct Figure 8 Field oriented control speed Simulation result
controlled. Field oriented control simulation graphics are given
Looking at above FOC graphs of flux , momentum
as follows.
value sit in a strip about 0.7 Wb and 9.2 Nm. Time of
0.8 simulation is 1 second. There are 12% flux error and %8
0.7 moment error. As shown in tthe graphic, when load was
Reference actived moment didn' t affect.
0.6 Observer
Motor
Graphs given in the Appendix B below at belongs
0.5 to the direct torque control circuit diagram. Simulink blocks
0.4 are formed according to the procedures described at Section
0.3
2.2. Stator currents , voltages and stator winding resistance
Rs used for calculation stator flux. Motor flux components is
0.2
obtained by using - set. each one - axis voltages set are
0.1 multiplyed by Rs and the same - axis currents set
0
subtracted than integrated.
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
0.9
pole couple p=2, inertia momentum J=0,03 Kgm2 and friction 0.1
factor F are given 0,03 Nm sec/rad.
0
Reference moment and flux were used 10Nm , 0.8 Wb 0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
10
Motor Industry applicatios necessitate faster, effective and
stable control of induction motors. Furthermore, competition
5
in the global world, companies inevitably leads to a detailed
cost analysis. Therefore, the speed control of induction
motor at a low cost and fewer sensor, more effective
solutions are required.
0