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Proceedings of International Conference on Energy Optimization and Control (ICEOC-20 I 0)
December 28 - 30,2010, Aurangabad, Moharashtra, India

DIRECT TORQUE CONTROl.. Of INDUCTION MOTOR WITH fUZZY

MINIMIZATION OF TORQUE RIPPLES
Prof. V. S. Kamble,
ABSRTACT
The induction motor, which is the
most widely used moter type in the
industry, has been favored because of its
good self-starting capability, simple and
rugged structure, low cost and reliability
etc. Over last few decades, Direct Torque
Control (OTC) is known to provide high
dynamic performance and also fast and
robust response for induction motors (1M).
Conventional OTC produces notable
torque and flux ripples. Several techniques
have been developed to improve the torque
performance. In this paper, Fuzzy Logic
Direct Torque Control (FLOTC) has been
suggested
to
improve
the
system
performance which gives better torque and
flux
response and also reduces the
undesirable torque ripple.

II

I.
INTRODUCTION
In the mid - 1980s, an advanced
scalar control technique, known as
direct torque and flux control or direct
self control, was introduced for voltage
fed
PWM inverter
drives.
This
technique was claimed to have nearly
comparable performance
with the
vector controlled drives. The scheme, as
the name indicates, is the direct control
of torque and stator flux of a drive by
inverter voltage space vector selection
through a look up table.
Conventional
direct
torque
controller mainly/consists of two level
hysteresis comparator for calculating
stator flux error and three level
hysteresis comparator for calculating
electromagnetic
torque error. After

L~~

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ic

fOR

Prof. D. S. Bankar
determining the stator flux error and
electromagnetic torque error the proper
state of voltage vector is selected.
II.

DYNAMIC D-Q MODEL OF

AN INDUCTION MOTOR
In an adjustable speed drive, the
machine
normally
constitutes
an
element within a feedback loop, and
therefore its transient behavior has to be
taken into consideration. Besides, high
performance drive control, such as
vector or field oriented control is based
on the dynamic d-q model of "the
machine.
The voltages VdsS and vqss can be
resolved into as-bs-cs components and
can be represented in the matrix form as
[~:] =

[cos(~~;200)
casCO

Vcs

+ 1200)

sin(:~~200)
sinCB

+ 1200)

~]
1

t:f:]
vJs

The corresponding relation is

v:,]
vt

vgs

=;-

[COS8 cos(8 - 120)

sin8
sin(8 - 120)
O.S
0.5

fV

cos(8 + ] 200)] as]

sinCe + 120) Vbs
0.5
L Vcs

The electrical transient model in

terms of voltages. and c
ue
given in matrix: form as
l

::j.[
'..

r..

R~~
Sl.,.

-t, ~1ti,Jl..

t: ~~~

Us,

-.,.j(".

R, 'S!,

st,..

, ~ )J,>

Where S is the Laplace operator. For a

singly fed motor such as cage motor,
Vqr = tu,> O.
The speed GJr cannot be treated as
constant. It can be related to the torque
and it is given by

i. = ~(i)Lm(iqsidT

- idSiqr)

Organised by - Department of Electrical Engineering, Govt. College of Engineering, Aurangabad - 431005. Maharashtra, India

382

Direct Torque Control oj Induction Motor with FtiZZY Logic for Minimization

III.

ELECTRICAL SUB MODEL OF

THE INDUCTION MOTOR
The three-phase to two-axis
voltage transformation is achieved by

[2/3 -1/3 -1/3] [vas]

0 -1/-/3 1/{3 Vbs
1/3
1/3 1/3 Vcs

Vgs]
v~s

[ vg

In the two-axis stator reference

frame, the current equation of an
induction motor can be written as:

A. SIMULATION SYSTEM OF
INDUCTION MOTOR
The complete simulation system
of the Induction Motor includes a power
supply sub-model and the Induction
Motor model. Figure 1 shows the
complete simulation model of Induction
Motor consisting of all sub models used
in l\1ATLAB / SIMULINK.

r.

fl

.J>.
'J>.

...

..
'-'"

;,,,

'"

of Torque Ripples

estimated values of torque and flux it is

possible to directly control the inverter
states in order to reduce the torque and
flux errors within the prefixed band
limits
A. COI\TTROLSTRATEGY OF DTC
The block diagram for direct
torque control is shown in figure 2. The
command stator flux IfIs * and torque T,*
magnitudes are compared with the
respective estimated values, and the
errors are processed through hysteresis
band controller. The flux loop controller
has two levels of digital output
according to the following relation.
HI{! = 1for E,,> + HBI{!
HI{! = -1 for E,,< - HBI{!
Where 2 HB I{! = total hysteresis band
width of the flux controUer.

..!f I

S;.

Sa

mtttr

Sc

"' ..

Figurel Simulation model of Induction Motor in

SIMULINK

IV.

DIRECT TORQUE AND FLUX

CONTROL (DTC)
Direct torque control technique
was claimed to have nearly comparable
performance with the vector controlled
drives.
The name direct torque control is
derived from the fact that on the basis of
the errors between the reference and the

Figure 2 Block Diagram of DTC

The circular trajectory of the

command flux victor IfIs * with the
hysteresis band
rotates an anticlockwise direction. The actual stator
flux IfIs is constrained within the
hysteresis band and it tracks the
383

Proceedings of International Conference on Energy Optimization and Control (ICEOC-20 I 0)

December 28 - 30. 2010. Aurangabad, Maharashtra, India

command flux in a zigzag :)dth. The

torque control loop has three levels of
digital output, which have the following
relations
HTe = 1for ETe > + HBTe
HTe = -1 for Ei; < - HBTe
HTe = 0 for -HBTe < ETe < + HBTe
The feedback flux and torque are
calculated from the machine terminal
voltages and currents. The signal
computation block also calculates the
sector number S(k) in which the flux
vector '1/5 lies. There are six sectors eacr,'
nj3 angle wide. The voltage vector
block in figure 2 receives the input
signals HfI/, HTel and S(k) and generates
the appropriate control voltage vector
for the inverter by a look up table,
which is shown in table 1
HIjI

HTeo

S(l)

S(2)

5(3)

5(4)

S(5)

S(6)

V2
Vo
V6
V3
V7

V3
V7
V1
V4

V4
Vo
V2
Vs

Vs
V7
V3
V6

V6
Vo
V4
V1

Vi
V;
Vs
V2

Vo
V6

V7
Vl

Vo V7
V2 VJ

Vo
V2

0
-1
1

-1

0
-1

Vs

voltage vector VS,k-2 is used to decrease

the torque and flux in forward braking
mode. Whereas VS,k.1 will reduce the
torque and increase the flux. Table 2
shows flux and torque variations due to
applied voltage vector in sector II
(Arrow
indicates
magnitude
and
direction).
Voltage
Vector VI
\jIs

Te

t
.~

II

Vo
V2

V3

V4

Vs

V6

or

V7

..

-\

Table 2 Flux and Torque Vanahons Due to Applied

Voltage vector

Figure
3 shows SIMULINK
diagram for DTC of 1M Drives.

.
Table 1 Suntching table oJ mvertervoltage
vectors

B. SWITCHING SELECTION
Due to the decoupled control of
torque and stator flux in DTC, a high
performance torque control can be
established. U the stator flux lies in
sector k with the motor rotating in
counter clockwise, active voltage vector
VS,k+l is used to increase both the stator
flux and torque. Voltage vector VS,k+2 is
selected to increase the torque but
decrease the stator flux. The two zero
voltage vectors (VS,7and Vss) are used
to reduce the torque and at the same
time, freezes the stator flux. Reverse

Figure 3 SIMULINK diagram for OTe of

Induction Motor Drive.

:::"'\

V. FUZZY LOGIC CONTROLLER

The Fuzzy Logic Controller is
designed to have three fuzzy state
variables and one control variable for
achieving Direct Torque Control of the
Induction Motor.' These' three input
variable are the stator flux error,
electromagnetic torque error, and the
position of stator flux space vector and
the output variable is the voltage space
vector.
Each
control rule
can be
described using the state variables flux

Organised by - Department of Electrical Engineering, Govt. College of Engineering. Aurangabad - 431 005. Maharashtra, India

384

Direct Torque Control of Induction Motor with Fuzzy Logic for Minimization of Torque Ripples

error, torque error, and flux sector and

the
control
variable
'n'
which
characterize the inverter switching state.
The inference method used in this
simulation is Mamdani's procedure
based on min-rnax decision.
For flux linkage error two terms
are used for the fuzzy sets i.e. negative
value and positive value which are
denoted
and ps respectively. The
fuzz
sets are then defined by the
-+------.:-~'-triangular menwcrsrup functions.
For electrcznagnetic torque error
three linguistic ternis are used for the
fuzzy sets i.e. negative value, zero value
and positive value which are denoted
by ne, zo and ps respectively. The fuzzy
sets for negative value and positive
value are defined by the trapezoidal
membership functions and fer zero
value it is defined by the triangular
membership function.
The . flux sector indicates the
position of flux within the path of
rotation. The total angle i.e. 3600 is
I
divided into six sectors and these sectors
I
are defined by membership functions 1
I
to 6. The six numbers i.e. 1to 6 are used
for the fuzzy sets which are denoted by
mfl to m6 respectively. The 'fuzzy sets
for these sectors are defined by the
triangular membership function.
The output
of Fuzzy Logic
Controller
gives
the
proper
selection of
)
switching state. These possibilities are
I
numbered from 1 to 8 at the output of
I
multiport switch. The eight numbers i.e.
I
!,
i
1to 8 are used for the fuzzy sets which
are denoted by mfl to m8 respectively.
The fuzzy sets for these output
possibilities
are
defined
by the
triangular membership function.

ne

~\

-4

A. RULE BASE FOR FLC

The proper activities of fuzzy

system are based on derivational
(inferential) rules, similarly to expert
systems.
The
benefit
of-such
representation of knowledge is the
transparency for users. These rules are
of type IF and THEN and are illustrated
with the help of Look-up table. The total
number of rules after their reduction is
36.
Figure 5 shows SIMULINK
diagram for fuzzy logic controller for
Direct Torque Control of Induction
Motor Drives.

Figure 5 SIMULINK diagram for fuzzy

controller for DIe of IM

logic

VI.

SIMULATION WITH
CONVENTIONAL DTC
Simulation of the developed
model is done with a Flux reference
value and variable Torque reference
value with conventional DTe. Figure 6
to Figure 8 shows the Torque response,
Stator Flux locus and Stator Current
obtained
using conventional
DTe.
Figure 6 shows the Torque response
which is less than the reference with
some ripples. Figure 7 shows the locus
of Stator Flux. From which it is/observed
that the value of Stator Flux decreases
between the sectors. Figure,8 shows the
Stator Current taken by motor which is
a sinusoidal in nature. The 1M takes
385

Proceedings of International Conference on Energy Optimization

December 28 - 30. 20 I O. Aurangabad, Maharashtra, India

high current initially and then it

becomes a sinusoidal. For high torque it
takes more current as compared to low
Torque reference. The current remains
constant
during
constant Torque
reference.

and Control (ICEOC-20 I 0)

shows the Torque response, Stator Flux

locus and Stator Current obtained using
FLDTC. Figure 9 shows the Torque
response which gives the Torque equal
to the reference value with some ripples.
Figure 10shows the locus of Stator Flux.
From which it is observed that the value
of Stator Flux remains constant during
its circular trajectory. Figure 11 shows
the Stator Current taken b-y motor which
---~-is a sinusoidal in nature which changes
accordin to the Tor ue..c.

Figure 6 Torque response obtained using

conventional OTC

Figure 9 Torque response obtained using FLOTC

Figure 8 Stator Current using conventional OTC

SIMULATION WITH FLDTC

Simulation of the developed

model is done using fuzzy logic direct
torque control with the same reference
of Flux
and Torque used
for
conventional DTC. Figure 9 to Figure 10

Figure 11 Stator Current using FLDTC

Organised by - Department of Electrical Engineering. Govt. College of Engineering, Aurangabad - 43/ 005. Maharashtra, /;Wia

386

Direct Torque Control of Induction Motor with Fuzzy Logic for Minimization of Torque Ripples
i

VII.

I
I
\

I
\

Ii
I

I,
I
I

I
II

\
i

I
II

!
I'

86

CONCLUSIONS
This paper
has
presented
improvements on direct torque control
of induction machine drives. The main
contribution of this paper is to propose
Fuzzy Logic based controller that
significantly reduce torque and stator
flux ripples. At the same time a constant
switching frequency is achieved. The
controllers have also managed to reduce
the
phase
current
distortion.
Simulations results had verified the
feasibility of the proposed controllers.
Results proved that the proposed
controllers are capable of significantly
reducing torque ripples and flux ripples
as compared to the conventional
hysteresis based controller.
The main improvements shown
are:
1. Reduction of torque and current
ripples.
2. No flux droppings caused by sector
changes circular trajectory.
3. Fast torque response.
4. Increase in output torque with
almost sarne stator current.
5. Increase in efficiency of the Drive.

science, engineering and technology volume

17 December 2006 .
6. R. Toufouti, S. Meziane , H. Benalla, "Direct
Torque Control for Induction Motor Using Fuzzy
Logic", ACSEJournal, June, 2006
7. Julio C. Viola, [ose A. Restrepo, V'ictor M.
Cuzrnan, Maria I. Cimenez, "Direct Torque
Control of Induction Motors Using a Fuzzy
Inference System for Reduced Ripple Torque and
Current
Limitation",
EPE-PEMC
2006,
Portoroz, Slovenia pp.1161-1166.
8. Fatiha Zidani, Rachid Nait Said, " Direct
torque control of induction motor with fuzzy
minimization
torque
ripple",
Journal of
Electrical Engineering, Vol. 56, No. 7-8, 2005,
pp.183-188
9. K. L. Shi, 1. F. Chan, Y. K. Wong and S. L.
Ho, "Modeling and Simulation of three phase
Induction Motor using Simulink," International
[ournal of Electrical Engineering Education, .
Vol 36, Manchester 1999, pp 163-172.
10.Isao Takahashi, Toshihiko Noguchi: "Take a
look back upon the past decade of Direct Torque
Control." Nagaoka University of Technology,
Japan.

Prof V. S. Karnble
B.E.(Elect),
M.E.(Power System)App.
Worked as a lecturer at
AISSMS's
Polytechin. ,
Pune. Currently working as
a lecturer at AISSMS's Inst.
of Information Tech. Pune

REFERENCES
1. B. K. Bose "Modern Pouier Electronics and AC
Drives" Pearson Prentice Hall Publications
2. Peter Vas, "Sensorless vector and direct torque
control", Oxpord science publications.
3. R. Rinkeviciene, V. Batkauskas, "Modeling and
Investigation of Vector Controlled Induction
Drive". Journal of Electronics and Electrical
Engineering, ISSN 1392-1215, 2008.
4. Pradeep Chatterjee, B.M. Karan, P.K. Sinha,
"Fuzzy Control of Induction Motor with Reduced
Rule Base", Serbian Journal of Electrical
Engineering, Vol. 4, No.2, November 2007,
147-159
5. V. Chitra, and R. S. Prabhakar, "Induction
Motor
Speed Control using
Fuzzy Logic
Controller", Proceedings of world academy of

Prof. D. S. Bankar
'X:"(E1 .- ower ystem
Worked as a lecturer at
BVJNIOT, Pune. Currently
working as a Asst. Prof. at
BVDU College of Engg.
Pune

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I
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387