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The 30th Annual Conference of the IEEE Industrial Eleetronlcs Society, November 2 6,2004, Busan, Korea
SIMPLIFIED SVPWM-DTC OF 3-PHASE INDUCTION MOTOR
USING THE CONCEPT OF IMAGINARY SWITCHING TIMES
Arbind h" Member EEE B.G. Fernandes'
Department of Electrical Engineering,
Indian Institute of Techology Bombay,
Powai, Mumbai-400 076, India
*&mail:;-
Abstrach This paper presents a new space vector pulse width
modulation based direct torque control technique for three-
phase indudion motor drive using concept of imaginary
switching times. The eRective time i s determined using
imaginary time vector there by the lengthy procedure of
ushg reference voltage vector is eliminated. Also the sector
identification and angle determination are not used.
Simulation studies have been carried out for the proposed
method and results are compared with basic DTC. Results
show that the torque, current and flux waveform are
superior to that of conventional direct torque control
technique. Though the results of the proposed method are at
par to those of DTC with conventional space vector pulse
width modulation, there is a sigalficant reduction in
execution time due to elimination of look-up table and
gimpliclty b algorithm.
1. INTRODUCTION
Sensorless Control of induction motor drive has received
wide attention in the industry in last one decade [l]. This
is due to the various advantages associated with induction
motor such as less maintenance, simple and rugged
construction and simultaneously the development of less
expensive and fast DSP controllers. The progress of
sensorless drives can bc considered to have begun around
three decade ago by Blascbke [Z]. This concept, now
called as field-oriented control (FOC), is well established
and accepted by the industry. But this method has some
disadvantages like dependent on machine parameters,
complexity due to reference h e transformations, need
of current controllers etc. Therefore, there was a need for a
new strategy that can produce high performance similar to
FOC with reduced complexity. Direct torque control
(DTC)by Takahashi [3] for low and medium power
application and direct self-control by Depenbrack [4] for
high power application are the two strategies increasingly
being used in the industry. These are considered to be next
generation motor control technology's [SI.In DTC, torque
and flux are controlled independently by selecting the
optimum voltage space vector for the entire switching
period and the errors are maintained with in the hysteresis
band. For the small hysteresis band, frequency of
operation of PWM inverter could be very high. The
switching ficquency always varies according to the width
02004 IEEE
0~7803~8730-9/04/$20.00
34 1
K. Chattejee
of hysteresis band. Though DTC has high dynamic
performance, it has few drawbacks such as:
Vibrations and acoustic noise due to torque ripple.
Harmonics and power loss due to current and flux
ripple.
Variation in switching ftequency of the PWM
inverter.
Effects of torque and flux hysteresis band amplitudes on
the performance of induction motor are studied in [6]
while its analytical investigation is given in [7]. Torque
ripple can be minimized using the method proposed in [SI
but flux and current ripples are further deteriorated. Flux
and current waveforms can be improved by the method
proposed in [SI-[ll] called space vector pulse width
modulation (SVPWM). Also, new hybrid techniques have
been reported [12]-[17], But these have either increased
the complexity in the control algorithm or used the
reference h e transformations, One of the basic aim,
the simplicity of DTC is lost in these techniques. Many
other schemes of DTC presented in the literature are
highly complex and does not qualify the definition of DTC
[lX]. In [19], modified control strategy for the flux and
torque ripple reduction is presented with 012-210
sequence in fust sector for reduced switching fkquency.
But sector and angle identification of the reference voltage
vector are essentially required.
In this paper a new simplified direct torque
control technique i s presented. Effective time is
determined using the concept of imaginary switching
times. It further avoids the requirement of reference
voltage vector, sector identification and angle
determination. Also it does not require any reference
W e transformations. In this control strategy error
between reference and estimated flux vectors is utilized to
find the d-q axes imaginary switching times. This axis
times can be converted in to respective three imaginary
switching times. These are the times responsible for
generating the actual voltage vector for the next switching
cycle that fulfills the requirement of demanded torque and
flux. This simplifies the switching technique and also
retains the concept of SVPWM, Either of the switching
sequences (conventional or clamping) can be implemented
by simply changing the offset time. Simulation studies
have been carried out for the proposed method and results * *
are compared with the basic DTC [3]. Tz = -Tss
'sb --Tss
vsc or Tz = Tsb - Tsc (4)
vDC
LI. PRINCIPLES

A. Concept of imaginav switching times

This concept is discussed in [20-211. For our purpose of are defined as the three imaginary switching times. The
easier understanding, this idea is summarizedbelow: value of these times could be negative as it depends on the
If the reference voltage vector is lying in the first sector as * * *
reference stator phase voltages V,, ,Ysb & V,, derived
shown in Fig. 1, it can be best constructed by its two
-- from the reference voltage vector v~*.
nearest voltage vectors V, ,V, and zero voltage vectors
- _
( VoorV,) in some sequence for a specified time. Total B. Proposed Simplified SVPWM-DTC
time, during which the active voltage vectors are applied,
The reference flux command can either be derived h m
is known as the 'effective time'. Power transfer from
the reference speed or it can be controlled separately while
inverter to motor takes place during this duration only.
the position of the reference flux space vector can be
These times are calculated by comparing the volts.second derived fiom the torque error and actual rotor speed.
of reference voltage vector with the applied voltage Torque error is proportional to slip speed as explained in
vectors i.e. [3] and adding it with actual rotor speed gives the
synchronous speed of the reference flux space vector. The
actual stator flux space vector is derived &om the motor
model itself. The error between these two stator flux
vectors generates the fictitious imaginary time reference
vector. The d q components of imaginary time vector are
determined by the procedure as follows:
Stator voltage equation can be written its:
- -
v, = Rsi, dry,
+-
dt
Under the condition of negligible stator resistance, it can
be simplified as: A Fs= FsAt or
v g (000)
v, (1 11) A vSd = kd
+ j A vsq + j v , )At (5)
Fig. 1 Construction of reference voltage vector Comparing real and imaginary parts of ( 5 ) gives:
Sirt(60' -a)
TI = Tss.a
Sin6Oo
Sin(a)
Tz = T,, .a - (7)
Sin60°
where At is the sampling time T, .
Therefore imaginary switching times in d-q stationary
_- reference h e are calculated as follows:
are the duration for which V1, V2 & ory are applied,
0 7
- 2
a is the angle of vs*with d-axis and = 1
.1= ; VDc .

T, = Ysq - v s q
If equations (1) & (2) are simplified in terms of
instantaneous phase values corresponding to its reference r, =-T, =
A vsq
voltage vector, these are given by: V, At(= T,) x V, vm
and (9)

and

342

This is shown graphically in Fig.2 while the schematic of
the proposed method is shown in Fig.3. Therefore a new
concept of imaginary time vector is introduced given by
equation (10) that i s directly responsible for calculating
the actual switching instants of the inverter. In any case,
magnitude of imaginary time vector can not be more than
.
the sampling timeT,, Components of imaginary time
vector can be converted into three-phase using simply
two-to-three phase transformation tbat gives imaginary
switching times T', ,Tsb & T,, . From imaginary
switching times, actual times are determined as explained
in Appendix I [20-211. These times are determined in each
sampling interval and accordingly the switching instants
for the PWM inverter are generated. Hence torque and
flux errors are compensated in each sampling interval.
This improves torque and flux waveforms. Afier each
Q-axis
Fig. 2 Generationof Imaginary time vector fiom flux error
Fig. 3 Proposed simplified SWWM-DTC
343
sampling interval, actual stator flux vector Iv, is corrected
by the error and it tries to attain the reference flux space
-*
vector vs . Flm error is minimized in each sampling
interval. While the speed of the reference stator flux
I vs'I takes care of torque demand because it is the
addition of slip speed derived from torque error and actual
rotor speed. The d-q components of imaginary time vector
are determined using equations (S) & (9) and adding
compensation time equivalent to stator resistance voltage
drop. This method ehmiMt&Sthe requirement of sector or
angle identification which M e r reduces the complexity.
TIT SIMULATION RESULTS
Simulation studies have been carried out for the proposed
and conventional methods of direct torque control using
MATLAB/SIMULINK software. Ode1 Euler's method
with sampling time of 100p.sis used for a futed step size of
 nl I
0 0.1 0.2 0.3 0.4 0.5 0.6 -0 0.1 0.2 0.3 0.4 0.5 0.6
"e (SW "e (*)

Fig. 4 Proposed Method (Change h load torque) Fig.5 Basic DTC

g -101
U) 0.37 0.47 o.n am 0.77 0.87
I
0.97

Fig.6 Proposed Method (Change in reference speed) Fig.7 Basic DTC

344
20 p. Fig. 4(a) - (d) and Fig. 6(a)-(d) show simulated
results of the proposed method for the reference flux of 1.0
Wb, while Fig. 5(a)-(d) and Fig. 7(a)-(d) show
corresponding results using the conventional method
under identical test condition. The parameters of induction
motor med for the study are given in Appendix 11.
Comparing the waveforms, it is evident that using
proposed method superior performance could be obtained
with respect to conventional switching table technique of
direct torque control. The PI controller parameters used for
simulation are given in Appendix III

IV CONCLUSION

A new method for the determination of position vector of

the reference stator flux is proposed. In this method
calculations for voltage space vector, angle and sector
determination are also eliminated. Though identical results
can be obtained using conventional SVPWM- DTC
method, the proposed method requires less memory and
computation time. Concept of imaginary time vector is
introduced that simplifies the calculations. Hence a very
simple control strategy i s developed for sensorless control
of induction motor drive.

APPENDIX I

ActuaI PWM signals are generated as follows:

T,, and T, are determined from respective d q axes flux
errors as explained and converted into T, Taband T, by 2
Figure 8 heration of sign&
to 3 phase transformation. Maximum and minimum
values from these three times are determined. i.e.
APPENDIX III
T-=Ma p m Tsbr T d
T-=Mh (Ta,Tabt T d For PI controller parameter which converts speed error
T!+Tz=T--T-
into reference electromagnetic torque, Kp=20 and Kr =
T-=T,-(T--T&
0.055, the second PI controller parameter which converts
T&sd=~”+Vzm44) torque error into slip speed, K p =12 and Kr = 0.55.
Tga=Tot~sa-T.$2
Tgl,=Tom-Tb$2
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