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The Comparison of Field Oriented Control and


Direct Torque Control Methods

Conference Paper April 2011

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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

flux is measured by two flux sensors which are specially


designed in a cross-section in a plane perpendicular to the axis.
Lm
Me = p rd i sq (8)
Since, Blaschkes developed method is required to ensure L'r
correct alignment of the machine stator current vector relative
to the rotor flux vector or alternative flux sensors, this method Herein, Ls is stator circuit leakage inductance, Rs is stator
is hard to applied and expensive [6]. phase resistance, Lr is rotor circuit reduced leakage
Due to these difficulties, it can be able to create an observer inductance, Rr is rotor circuit reduced phase resistance, Lm
by getting into calculation of flux components without effecting is magnetization inductance, p is the number of pole couple,
physical structure of measurable quantities. Amplitude, phase is, is, r, r, Vs, Vs are current and flux values on
and moment of flux can be calculated by using both stator the axis of -, is motor speed, RE is equivalent
phase flux & voltage and machine speed with the help of resistance, is leakage factor, Me is momentum.
observer. Observer equation shall be established considering - Flux amplitude and phase were calculated in the
model in the form of state equations in Chapter 2. Model of flux-moment observer by using the aforementioned observer
the observer and the motor must be same. The observer is a equations and compared with the reference values for flux
calculation element while the motor outputs are real values. and momentum. To eliminate the error, which appeared, PI
controller was employed. The reference value of stator q axis
The observer, which shall be established herein, is current is obtained with the signal from the PI controller that
Launberger observer. The calculated values in the observer are shall eliminate the momentum error that shall occur when
the results of A and B matrix values at the moment at which the the momentum reference value and the momentum value
calculation was done. Variation, which shall occur in these obtained from the observer are compared [9].
s =
(v R i )dt
s s s (13)

s = ( s2 + s2 ) (14)

Switching series of the torque produced by the amplitude


of the vector of the torque and the stator flux calculated with
the help of the equations, torque and flux errors produced by
variations between their reference values and the flux
Figure 2. Field oriented control method block schema
determined based on the stator flux component is produced
by employing s angular position and is applied to the power
Reference currents creating flux and momentum on the switches existing in the inverter Figure 5.
d-q axis are inverted from d-q into a-b-c by using s inversion To accomplish switching process, one of the 8 different
angle calculated in the observer and the reference values on the voltage vectors consisting of 8 different switching is selected
a-b-c are obtained. The desired PWM inverter pulses are as seen in Figure 6. Vi (Sa, Sb, Sc) (i=0,1,27) Besides 6
obtained as a result of comparison of the obtained reference switching levels, there are V0(0,0,0) and V7(1,1,1) levels not
currents with the phase currents from the motor in the producing a voltage at the output when they are applied
hysteresis comparator. Figure 4.

2.2. Direct Torque Control Method


Direct torque control method (DTC) is a vector control
system because it allows calculating motors flux and torque
with the help of measurable magnitudes by motor parameters.
The method is based on applying a switching series, which shall
directly eliminate errors, which shall occur in torque, through
the reference given as value and the calculated flux, to the
power switching elements in the inverter [5].
Thus, variations, which may occur in torque and flux Figure 4. Switching positions of DTC
error, can be corrected instantly and a fast torque response can Table 1 may be useful to determine that the flux in which
be provided. Other vector control methods are mostly based on
zone. You should see signs of s and ( 3 s s ).
rotor flux while DTC method is based on stator flux. Module of the flux is calculated by employing Equation [17]
and it is used in calculating flux error in the flux control
circuit.
(1,0,-1) (1,0)
1 1

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

III. SIMULATIONS Figure 7. Field oriented control moment simulation result


Block circuit schemas were prepared in MATLAB Simulink
based on the equations given for torque and flux control 160

methods explained in Chapter 2. These block circuit schemas 140


Reference

are seen above. MATLAB simulation outputs will be provided 120


Motor

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

according to the Field oriented control circuit schema given 20

appendix A and the calculation procedures given in Chapter 2. 0

- 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

Figure 6. Field oriented control flux linkage simulation result 0.8

Herein, Nominal power Pmech=3kW, line to line voltage


0.7
Reference
Estimated
Vsef=380V, nominal stator frequency fs=50Hz, stator circuit 0.6

leakage inductance Ls=12,2.10-3h, stator phase resistance Rs= 0.5

1,45 , rotor circuit reduced leakage inductance Lr=2,66.10- 0.4


3
h, rotor circuit reduced phase resistance 0.3

Rr=1.45 ,magnetization inductance Lm=0,1878h, number of 0.2

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

respectively. Load is applied 10 Nm 0 <t <0.5 range, -5Nm


0.5<t<1 range. Figure 9. Direct Torque control flux linkage simulation result
15
IV. CONCLUSION
Reference
Estimated

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

Vector control methods meet the demands of


-5
varied. At this stage, a Field oriented control method and
direct torque control method were used, and comparing the
-10
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1 outputs.
Generated directly from the graphics As shown in
Figure 10. Direct Torque control moment simulation result the block schemes, vector control method (FOC) the amount
150 of flux and torque error is higher tahn direct torque control
(DTC). Flux value is sitting in a stripe almost 20% error than
referans flux value and the torque with 10% deviation sits in
100 9.2 Nm a stripe than it s referance value over time in FOC
. In DTC ,maximum estimated flux error %8 within the
oscillation band, estimated moment error %4 within the
50
oscillation band and out of motor model moment deviation
%18 within the oscillation band are apparent . Then If
circuit realizability error margins of the moment with the
0
flux are considered , given the DTC motor control method
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
instead of the FOC would be more logical to choose.
Figure 10. Direct Torque control speed simulation result
REFERENCES

[1] Depenbrock, M., Direct Self-control of inverter-fed machine, IEEE


Transactions on Power Electronics Vol. 3, No.4, pp. 420-429, Oct. 1988
[2] Bertoluzzo M., Buja G., Direct Torque Control of an Induction Motor
Using a Single Current Sensor, IEEE transactions on industrial
electronics, vol. 53, no. 3, june 2006.
[3] R.Toufouti S.Meziane ,H. Benalla, direct torque control for induction
motor using intelligent techniques, Journal of Theoretical and Applied
Information Technology, 2007.
[4] Vasudevan M., Arumugam R., New Direct Torque Control Scheme of
Induction Motor for Electric Vehicles.
[5] I. Takahashi and T. Noguchi. A new quick response and high efficiency
Figure 11. Change of rotating field flux vector simulation result control strategy for an induction motor. IEEE Trans.
IndustryApplications. Vol. IA-22, No. 5, pp. 820-827,Sept/Oct 1986.
Flux-torque calculator estimates the flux and torque [6] X. Li, R. Duke and S. Round. Development of a three-phase three-level
values then compared with fixed reference flux and torque inverter for an electric vehicle.
Australasian Universities PowerEngineering Conf., Darwin, Australia,
values. Errors of Flux and torque applied to hysteresis blocks. 1999, pp 247-251.
Hysteresis outputs are obtained by looking into whether Me [7] Sarolu M. K., Elektrik Makinalarnn temelleri I, 3.Bask,T,
/ 2 and s / 2 range. Hysteresis band widths of system are Elektrik-Elektronik Fakltesi Ofset Bask Atlyesi, 1984.
Me=0.08 Nm for moment and s=0.5 V.s/rad for flux. [8] Sarolu M.K., Gkaan M., Boosyan S.,Asenkron Makinalar ve
Kontrol, Birsen Yaynevi, ISBN 975-511-343-6, 2003.
These results applied to key selector block, integer-binary [9] Matlab, The Langauge of Technical Computing, Using Matlab,
converter block (achieved values Table 1 at section 2.2) . PWM Copyright 1990-2001 by The MathWorks, Inc.
inverter block and induction motor respectively. XY grafic [10] Simulink, Model-Based and System-Based Desing, Using Simulink,
block connected to - axis flux components to see shape of Copyright 1990-2001 by The MathWorks, Inc.
turns wave field within motor.
Looking at the exit of flux and torque observer
graphics maximum %8 deviation, %4 deviation show
respectively. Load is applied 10 Nm 0 <t <0.5 range, -5Nm
0.5<t<1 range.
Appendix. A Field oriented control simulink schema of induction machine

Appendix. B Direct torque control simulink schema of induction machine

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