THREE PHASE VOLTAGE SOURCE INVERTER CONTROLLED WITH

VECTOR CONTROL METHOD

AND DIRECT TORQUE CONTROL

2022-23

A Dissertation submitted to
Rajiv Gandhi Proudyogiki Vishwavidyalaya, Bhopal (M.P.)
Towards the Partial Fulfillment of Requirements for Awarding the Degree
of
Bachelor of Technology (B.Tech.) in Electrical Engineering

Supervised by: Submitted By:

Mr. R. S. Mandloi VAIBHAV KOTNALA
Associate Professor VIVEK CHOUDHARY
Department of Electrical Engineering AKSHARA MUNJE
PRATEEK PARASHAR
YATHARTH MAGRAIYA
Department of Electrical Engineering
Shri G.S. Institute of Technology and Science,
Indore-452003 (M.P.) -India
©Shri G.S. Institute of Technology and Science, (SGSITS), Indore, 2023
Indore-452003 (M.P.) -India
Department of Electrical Engineering
 2022-23
RECOMMENDATION
We are pleased to recommend that the dissertation work entitled Three
phase voltage source inverter controlled with vector control method and direct
torque control carried out by VAIBHAV KOTNALA, VIVEK CHOUD-
HARY, AKSHARA MUNJE, YATHARTH MAGRAIYA, PRATEEK
PARASHAR in partial fulfillment for degree of Bachelor of Technology
(B.Tech.) in Electrical Engineeringof Rajiv Gandhi Proudyogiki
Vishwavidyalaya, Bhopal (M.P.)during the year 2022-23. The project
report has been approved as it satisfies the academic requirement in
respect of project work prescribed for the Bachelor of Engineering degree.

Supervisor Prof. & Head

Mr. R. S. Mandloi EED, SGSITS, Indore
EED, SGSITS, Indore
 Shri G.S. Institute of Technology and Science,

Indore-452003 (M.P.) -India

Department of Electrical Engineering

2022-23

CERTIFICATE
We are pleased to certify that the dissertation work entitled Three
phase voltage source inverter controlled with vector control method and
direct torque control carried out by VAIBHAV KOTNALA, VIVEK CHOUDHARY,
AKSHARA MUNJE, YATHARTH MAGRAIYA, PRATEEK
PARASHAR is accepted in partial fulfillment for the award of the degree of
Bachelor of Technology in Electrical Engineering of Rajiv Gandhi
Proudyogiki Vishwavidyalaya, Bhopal (M.P.) during the year 2022-23

Internal Examiner External Examiner

Date: Date:
Indore-452003 (M.P.) -India Department of Electrical
Engineering
 2022-23

DECLARATION
I VAIBHAV KOTNALA, VIVEK CHOUDHARY, AKSHARA MUNJE, PRATEEK
PARASHAR, YATHARTH MAGRAIYA, , student of Bachelor of Technology
(B.Tech.) in Electrical Engineering, hereby declare that I have worked on
project with title Three phase voltage source inverter controlled with vector
control method and direct torque control under the supervision of Mr. R. S.
Mandloi, Associate Professor, Department of Electrical Engineering , , and all
the material used in the report are properly referenced and all references
are taken into account to the best of my belief.

VAIBHAV KOTNALA VIVEK CHOUDHARY AKSHARA MUNJE

0801EE191094 0801EE191102 0801EE191006

PRATEEK PARASHAR YATHARTH MAGRAIYA

0801EE191050 0801EE191106

Acknowledgments
 Shri G.S. Institute of Technology and Science,

First and Foremost we would like to express our gratitude towards our supervisors Mr.
R. S. Mandloi, Associate Professor, Electrical Engineering. We take pride in saying that we
have started our project work under their able guidance.

We would also like to thank Dr. R.K. Saxena, Director, Dr. Arun Parakh, Head of
Department and all the faculty members of Electrical Engineering Department,SGSITS for
helping us and providing proper guidace to achieve perfection.

VAIBHAV KOTNALA
VIVEK CHOUDHARY
AKSHARA MUNJE
PRATEEK PARASHAR YATHARTH
MAGRAIYA
 Abstract
This research project focuses on the design, simulation, and implementation of a

control system for a three-phase voltage source inverter using vector control and direct

torque control methods. The voltage source inverter is a critical component of many

power electronic systems and is used to convert DC voltage into AC voltage with variable

frequency and amplitude. The goal of this project is to develop a control system that

combines the benefits of vector control and direct torque control to provide high

performance and efficiency for a wide range of applications including electric vehicles,

renewable energy systems, and industrial automation.

The project involves several key tasks, including the design and simulation of the

control system using software tools such as MATLAB/Simulink, the development of

hardware and software for the control system, and the testing and evaluation of the

system using a physical prototype. The control system is designed to generate a

sinusoidal output voltage with variable frequency and amplitude while also controlling

the phase angle and magnitude of the output current. The direct torque control method is

used to provide precise control of the torque of an AC motor.

The results of this project are expected to contribute to the development of more

advanced and efficient voltage source inverters, which could have significant impact on a

wide range of industries and applications. The control system developed in this project

could potentially be used in a variety of systems, such as wind turbines, solar power

systems, and electric vehicles, to improve their performance and efficiency. The project

has the potential to advance the field of power electronics and contribute to the

development of cleaner and more sustainable energy systems.

Contents
List of Figures iii
List of Tables iv
1 Introduction 1
1.1 Motivation...................................................................................................................................... 2
1.2 Background.................................................................................................................................... 3
1.3 Organization of thesis.................................................................................................................. 4
2 Literature Survey................................................................................................................................ 5
2.1 Literature........................................................................................................................................ 5
2.2 Chapter Summery......................................................................................................................... 8
3 Methodology...................................................................................................................................... 9
3.1 Clarke’s Transformation.............................................................................................................. 9
3.2 Park Transformation................................................................................................................. 12
3.3 Induction Machine...................................................................................................................... 13
3.3.1 Induction Motor in DQ frame................................................................................................ 14
3.4 Direct Torque Control................................................................................................................ 15

CONTENTS ii

3.4.1 Choosing the Optimum Voltage Switching Vector in direct torque

1
control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7
3.4.2 Optimum voltage switching vector look-up table . . . . . . . . . . . 1
8

4 Results and Analysis 21

2
4.1 Simulation of Field orientation controlled (FOC) Induction Machine ...
1
2
4.2 SIMULATION MODEL,RESULTS AND DISCUSSIONS . . . . . . . . . .
4
2
4.3 SIMULATION MODEL OF DIRECT TORQUE CONTROL . . . . . . . .
4
4.4 Simulation Result . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
 6
2
4.4.1 FOC Results ..............................
6
4.4.2 DTC Results .............................. 3
0

5 Conclusion 34
3
5.1 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

List of Figures
3.1 Clarke’s Transformation ............................ 9
3.2 Park Transformation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
3.3 Induction Motor diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
16
3.4 Direct Torque Control .............................

3.5 Position of various stator flux linkage space vectors and selection of the
optimum switching vectors. FI: flux increase; FD: flux decrease; TI: torque

increase; TD:torque decrease . . . . . . . . . . . . . . . . . . . . . . . . . . 19

3.6 Lookup table for DTC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

4.1 Simulation of Field orientation controlled (FOC) Induction Machine . . . . 22

4.2 Simulation model of direct torque control . . . . . . . . . . . . . . . . . . . 25

4.3 Inverter Voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
4.4 Inverter output voltage. ............................ 31
4.5 Figure shows torque, angular speed, flux and Iabc. . . . . . . . . . . . . . . 32
4.6 Responses to change in load torque within 100ms which is compared to FOC. 33
iii

List of Tables

4.1 Nominal per phase parameter . . . . . . . . . . . . . . . . . . . . . . . . . 24

4.2 Nominal per phase parameter . . . . . . . . . . . . . . . . . . . . . . . . . 28

 4.3 The waveform of reference speed with motor speed, current and active and

reactive power of motor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

iv

Chapter 1

Introduction

Three-phase voltage source inverters are widely used in many power electronic

systems, including renewable energy systems, electric vehicles, and industrial

automation. They are used to convert DC voltage into AC voltage with variable frequency

and amplitude, which is necessary for many applications.

 Vector control and direct torque control are two of the most commonly used control

methods for voltage source inverters. Vector control is a sophisticated control technique

that allows the inverter to generate a sinusoidal output voltage with variable frequency

and amplitude while controlling the phase angle and magnitude of the output current.

Direct torque control is a high-performance control method that is commonly used in

applications that require precise control of the torque of an AC motor.

The combination of vector control and direct torque control methods has the potential

to provide high performance and efficiency for a wide range of applications. The goal of

this project is to design and implement a control system that combines these two

methods for a three-phase voltage source inverter. This control system will be capable of

generating a sinusoidal output voltage with variable frequency and amplitude while also

providing

1
Introduction 2
precise control of the torque of an AC motor.

The project will involve several key tasks, including the design and simulation of the

control system using software tools such as MATLAB/Simulink, the development of

hardware and software for the control system, and the testing and evaluation of the

system using a physical prototype. The results of this project have the potential to

contribute to the development of more advanced and efficient voltage source inverters,

which could have significant impact on a wide range of industries and applications.

1.1 Motivation
The motivation behind developing a control system for a three-phase voltage source

inverter using vector control and direct torque control methods is to improve the

performance and efficiency of power electronic systems in various applications.

Vector control and direct torque control are advanced control techniques that have

been widely researched and implemented in the industry. The combination of these

methods in a single control system for a voltage source inverter could lead to better

performance, improved efficiency, and reduced energy consumption, particularly in

applications that require precise control of the torque of an AC motor.

The implementation of this project could have a significant impact on industries such as

renewable energy, electric vehicles, and industrial automation. Renewable energy

systems, for example, rely heavily on voltage source inverters to convert DC power

generated from solar panels or wind turbines into AC power that can be used in the

electrical grid. Improved performance and efficiency of voltage source inverters could

result in a more reliable and cost-effective renewable energy system.

Introduction
3

Electric vehicles are another area where voltage source inverters play a critical role.

The control system developed in this project could potentially improve the performance

and efficiency of electric vehicles, which could lead to increased adoption of electric

vehicles and reduce reliance on fossil fuels.

In industrial automation, voltage source inverters are used to control the speed and

torque of AC motors. The combination of vector control and direct torque control

methods in a control system for voltage source inverters could lead to more precise and

efficient control of AC motors, resulting in increased productivity and energy savings.

Overall, the motivation behind this project is to develop a control system for a

threephase voltage source inverter that can improve the performance and efficiency of

power electronic systems in various applications, which could have a positive impact on

the environment, energy consumption, and productivity.

1.2 Background
The induction machine has a rich history that dates back to the 19th century. In 1824,

the principle of electromagnetic induction was discovered by Michael Faraday, which

paved the way for the development of induction machines. However, it was not until the

late 1800s that practical induction motors were developed.

In 1887, Nikola Tesla invented the first functional induction motor, which used

alternating current (AC) and was based on a rotating magnetic field. Tesla’s motor was
Introduction 4
more efficient and reliable than other motors of the time, such as direct current (DC)

motors, and quickly gained popularity in industrial applications.

In the early 20th century, improvements were made to the design of induction

machines, such as the introduction of squirrel cage rotors, which increased the motor’s

efficiency and reduced maintenance requirements.

During the mid-20th century, induction machines were further refined, with

advancements in materials and manufacturing processes allowing for the production of

more powerful and efficient motors. The wound rotor motor, which uses a rotor with a

winding instead of a squirrel cage, was also developed during this time.

Today, induction machines are widely used in various applications, such as in industrial

machines, pumps, fans, and transportation systems. They are preferred over other types

of motors due to their simplicity, reliability, efficiency, and low maintenance

requirements.

1.3 Organization of thesis

Chapter 1 gives a brief introduction about the objective that we intend to achieve

through this work. Chapter 2 gives some idea about the areas into which we would be

looking at during the course of work. we explains the different set of parameters. Chapter

3 A brief explanation about Three phase voltage source inverter, vector control method

and direct torque control and its working has been described. Chapter 4, describes all the

simulation work we have done in Three phase voltage source inverter controlled with

vector control method and direct torque control, In Chapter 5, results obtained during the

simulation have been described here and we look for the reasons behind obtained results.
Chapter 2

Literature Survey

2.1 Literature
There has been extensive research on the control of three-phase voltage source inverters

using vector control and direct torque control methods. Many researchers have

investigated the effectiveness of these control methods and have proposed various

improvements and modifications to enhance the performance and efficiency of voltage

source inverters. Some previous works in this area include:

A three-phase voltage source inverter (VSI) is the usual source of variable voltage and

frequency supply for ac drives, with Pulse width modulation (PWM) schemes utilized to

achieve this. Among the PWM schemes used for three-phase VSI, the most common ones

are carrier-based sinusoidal PWM and space vector PWM (SVPWM). SVPWM is

increasingly preferred due to its simpler digital implementation and more efficient use of

the dc bus. This article concentrates on the gradual development of a MATLAB/SIMULINK

model of SVPWM, beginning with a discussion of the model of a three-phase VSI based on

space vector representation. Subsequently, a simulation model of SVPWM is produced

using MATLAB/SIMULINK, and simulation findings are presented. [1]

Induction motors are commonly used for high torque applications, although they

exhibit a significant transient start-up response. To mathematically describe the behavior

of the induction motor in the stationary and synchronous reference frame, the d,q model
Literature Survey 6

is utilized. The stator and rotor currents are highly oscillatory in the stationary reference

frame, including the electrical component. In the synchronous reference frame, direct

current components of the stator and rotor currents can be observed. Comparing the

start-up torque of the d,q model and the steady-state model shows that the d,q model

exhibits a greater start-up torque and a more pronounced transient response than the

latter. [2]

The direct torque control (DTC) is a highly efficient approach to controlling the torque

of induction machines, which is often employed as an alternative to the field-oriented

control (FOC) method. Unlike other methods, DTC does not rely on PI regulators,

coordinate transformations, current regulators, or pulse width modulated signal

generators, allowing for exceptional torque control in both steady-state and transient

operating conditions. This article discusses the development of DTC, specifically the

version that uses space vector modulation (SVM) and a switching table. With the

advancement of digital technologies, microcontrollers and digital signal processors have

become increasingly popular due to their software flexibility and cost-effectiveness. The

article also examines intelligent control techniques, such as neural networks (NN) and

fuzzy logic-based DTC. [3]

”A Novel Control Method for Three-Phase Voltage Source Inverter Based on Vector

Control and Direct Torque Control” by L. Huang et al. A control system that merges vector

control and direct torque control methodologies to attain accurate control over the speed

and torque of an AC motor was suggested in this paper. By putting forward the proposed

control system to a simulation model, it was observed to have better performance 7

in contrast to conventional control methods. [4]

Literature Survey

”Design and Implementation of a Three-Phase Voltage Source Inverter with Vector

Control” by M. Shahbazi et al. The paper illustrated the development and application of a

voltage source inverter with vector control in a three-phase setup. The authors

introduced a control system that employed a digital signal processor (DSP) for generating

a sinusoidal output voltage having adjustable frequency and amplitude. The proposed

control system was experimented on a tangible prototype and demonstrated better

efficiency in comparison to traditional control methods. [5]

”A New Control Strategy for Three-Phase Voltage Source Inverter based on Direct

Torque Control and Space Vector Modulation”by X. Zhang et al. A control system was

suggested in the paper, which incorporated a combination of direct torque control and

space vector modulation for achieving accurate control over the speed and torque of an

AC motor. By subjecting the proposed control system to a simulation model, it was

observed that its performance was better in comparison to conventional control

techniques. [6]

These previous works have contributed significantly to the development of advanced

control methods for three-phase voltage source inverters. The proposed control systems

have shown improved performance and efficiency compared to traditional control

methods and could potentially be used in various applications to improve the

performance of power electronic systems.

2.2 Chapter Summery

The vector control method allows for precise control of the stator current, while the

direct torque control method provides quick and accurate torque control. The Clarke and

Park transformations are used to transform the three-phase voltage and current signals

to the d-q reference frame for easier control. Additionally, space vector pulse width
Literature Survey 8

modulation is used to generate the required switching signals for the inverter. This

project aims to provide a comprehensive understanding of the operation and control of

three-phase voltage source inverters using advanced control techniques.

Chapter 3

Methodology

3.1 Clarke’s Transformation

The stationary two-phase variables of Clarke’s transformation are denoted as α and
β,whereα− axis and β − axis are orthogonal.

To make transformation invertible, a third variable, known as the zero-sequence

component, is added

Figure 3.1: Clarke’s Transformation

[ fαβ0 ] = Tαβ0[ fabc ]

Methodology 10

[ fαβ0 ] = [ fα fβ f0 ]T

[ fabc ] = [ fa fb fc ]T

Transformation matrix is given by:

 
1 −1/2 −1/2
 

T

 
1/2 1/2 1/2

The inverse transformation is given by:

[ fabc ] = (Tαβ0)−1[ fαβ0 ]

The inverse transformation matrix is given by: 

1 0 1

T

The Clarke transformation converts the three-phase voltages or currents into two
components: a direct component (also known as the ”d-axis” component) and a
quadrature component (also known as the ”q-axis” component). The d-axis component
represents the average value of the three-phase system, while the q-axis component
represents the difference between the ”a” and ”b” phase voltages or currents.
Methodology 11

The transformation can be expressed mathematically as follows:

d = (2/3) * (a - (1/2)*b - (1/2)*c)
√ q = (2/3) * (( 3/2) ∗ (b − c)) where a, b, and c are the three-
phase voltages or currents, and d and q are the corresponding two-phase components.

Figure 3.2: Park Transformation

3.2 Park Transformation

Park’s transformation is a well-known three-phase to two-phase transformation in
synchronous machine analysis. Park’s transformation has theunique property of
eliminating all time varying inductances from the voltage equations of three-phase ac
machines due to the rotor spinning.
The transformation equation is given by :

[ fqd0s ] = Tqd0(θ)[ fabcs ]

[ fqd0s ] = [ fqs fds f0s ]T

[ fabcs ] = [ fas fbs fcs ]T

dq0 transformation matrix is defined as:

 
cos(θ) cos(θ − (2π)/3) cos(θ + (2π)/3)
 
Methodology 12

 
Tqd0s = 2/3 sin(θ) sin(θ − (2π)/3) sin(θ + (2π)/3) 
 
 
1/2 1/2 1/2
the inverse transformation can be written as:

[ fabcs ] = Tqd0(θ)−1.[ fqd0s ]

the inverse of Park’s transformation matrix is given by:

 
cos(θ) 1
 
 
cos(θ − (2π)/3) 1
 sin(θ) sin(θ 
 − (2π)/3) sin(θ + 
cos(θ + (2π)/3) (2π)/3)1/2 1

3.3 Induction Machine

Figure 3.3: Induction Motor diagram

Methodology 13

The working of an induction motor is based on the principle of electromagnetic

induction. An induction motor consists of a stationary part called the stator and a rotating
part called the rotor.

The stator of an induction motor has a set of windings that are connected to a
threephase AC power supply. When the AC power supply is connected to the stator
windings, it creates a rotating magnetic field that rotates at the frequency of the power
supply.

The rotor of an induction motor is made up of a set of conductive bars or copper

windings that are not electrically connected to the power supply. The rotor is free to
rotate within the stator.

When the rotating magnetic field of the stator passes over the conductive bars of the
rotor, it induces an electromotive force (EMF) in the rotor conductors. The induced EMF
in the rotor bars causes an electric current to flow through them. This current in turn
creates a magnetic field around the rotor conductors. The interaction between the stator
magnetic field and the rotor magnetic field produces a torque that causes the rotor to
rotate.

The rotor speed is always less than the speed of the stator magnetic field. This
difference in speed is known as slip. The amount of slip depends on the load on the motor.
As the load on the motor increases, the slip increases and the rotor speed decreases.

Induction motors are widely used in various applications due to their robustness,
reliability, and simplicity. They are used in applications that require high torque at low
speeds, such as pumps, fans, and conveyor belts. They are also used in high-power
applications, such as compressors, blowers, and machine tools.
Methodology 14

3.3.1 Induction Motor in DQ frame

The dq frame is a coordinate system used in the analysis of electrical machines,

including induction machines. In this coordinate system, the stator of the induction
machine is represented by two perpendicular axes: the d-axis and the q-axis.

The d-axis is aligned with the magnetic axis of the stator winding and the q-axis is
perpendicular to the d-axis. The current and flux components in the d-q frame are
independent of each other, which simplifies the analysis of the machine.

In the dq frame, the equations describing the behavior of an induction machine are
given by the dq model. The dq model represents the machine as a set of equations in the
dq frame that describe the interaction between the stator and rotor magnetic fields.

In the dq model, the stator and rotor currents and voltages are transformed from the
abc frame to the dq frame using Park’s transformation. The stator and rotor flux linkages
are also transformed to the dq frame using the same transformation.

Using the dq model, it is possible to control the torque and speed of the induction
machine by controlling the currents in the d-q frame. This is the basis for vector control,
which is a widely used method for controlling induction machines.

Overall, the dq frame and the dq model are powerful tools for the analysis and control
of induction machines. They simplify the analysis and allow for precise control of the
machine’s behavior, making induction machines highly efficient and adaptable to various
applications.
Methodology 15

3.4 Direct Torque Control

A technique called Direct Torque Control (DTC) is used to regulate a motor’s flux and
torque. This technique employs two hysteresis loops, a flux and torque estimator, and

Figure 3.4: Direct Torque Control

controllers. The significant torque ripple is typically considered to be the main issue with
DTC drives. The flux and torque estimator makes advantage of the stator resistance.
Therefore, performance of the fuzzy-DTC may be impacted by stator resistance departure
from its set value, especially at low speed. This study provides an improved direct torque
control based on fuzzy logic technique that addresses these issues by substituting fuzzy
controllers for the torque and flux hysteresis controllers as well as a fuzzy stator
resistance estimator. It is demonstrated that the fuzzy suggested controller may lower the
torque.

DTC uses speed, currents, and voltages as feedback in a closed-loop control system.
Methodology 16

Using current sensors and potential dividers, the voltage across the motor terminals (Va,
Vb, and Vc) and the currents flowing through the motor (Ia, Ib, and Ic) are monitored and
supplied to the processor (dsPIC).

The CPU is also supplied the required speed and the actual speed (as determined by the
sensor). These values are further used by the processor, who performs the necessary
calculations and transformations before generating the proper switching signals. This
switching patterns are used to manage the induction motor’s speed.

3.4.1 Choosing the Optimum Voltage Switching Vector in direct torque

control

In Direct Torque Control (DTC), choosing the optimum voltage switching vector is
important to achieve fast and accurate torque response. The voltage switching vector
determines the magnitude and direction of the stator voltage, which in turn controls the
torque and flux of the motor.

To choose the optimum voltage switching vector, the DTC controller calculates the
error between the actual torque and the reference torque, and the error between the
actual stator flux linkage and the reference stator flux linkage. Based on these errors, the
controller selects the voltage switching vector that minimizes the errors and achieves the
desired torque and flux.

There are several methods for selecting the optimum voltage switching vector in DTC,
including look-up table-based methods, hysteresis-based methods, and predictive
methods. Look-up table-based methods use pre-calculated tables to select the voltage
switching vector based on the torque and flux errors. Hysteresis-based methods use
hysteresis bands to select the voltage switching vector based on the error signals.
Methodology 17

Predictive methods use mathematical models to predict the future error signals and
select the voltage switching vector accordingly.

In addition to selecting the optimum voltage switching vector, it is also important to

ensure that the selected voltage vector is feasible and can be produced by the inverter.
The feasible voltage vectors are determined by the inverter switching pattern and the
available voltage levels.

Overall, choosing the optimum voltage switching vector is an important aspect of DTC
and requires careful consideration of the torque and flux errors, as well as the feasibility
of the selected voltage vector.

3.4.2 Optimum voltage switching vector look-up table

Methodology 18

Figure 3.5: Position of various stator flux linkage space vectors and selection of the
optimum switching vectors. FI: flux increase; FD: flux decrease; TI: torque increase;
TD:torque decrease
Methodology 19

Figure 3.6: Lookup table for DTC

Chapter 4

Results and Analysis

MATLAB incorporates simulation as an essential component, offering the SIMULINK

library for designing, simulating, and analyzing dynamic systems in block diagram format.
SIMULINK comes with a user-friendly graphical interface, and to discretize the model, the
powergui block is utilized in the simulation model. When utilizing simpowersystem blocks
in a SIMULINK model, a powergui block is necessary.

4.1 Simulation of Field orientation controlled (FOC) Induction

Machine
The induction machine controlled with field orientation control is a commonly used
technique for high-performance speed control of AC motors. The Field-Oriented Control
(FOC) technique uses a mathematical model of the motor to control its torque and speed
independently. Simulink is an excellent tool for designing and simulating such systems.
The Simulink model for an induction machine with FOC will include the electrical and
mechanical subsystems, the control algorithm, and the power electronics converter. The
electrical subsystem will model the stator and rotor circuits, and the mechanical sub-

21
Results and Analysis 21

Figure 4.1: Simulation of Field orientation controlled (FOC) Induction Machine system

will include the shaft, load, and inertia. The control algorithm will consist of a speed

controller and a current controller, which will regulate the torque and flux of the

motor. Finally, the power electronics converter will convert the DC voltage into a

variable frequency AC voltage to control the motor’s speed. By simulating this model,

we can observe the performance of the induction motor under various conditions and

optimize the control parameters for better performance.

The Field-Oriented Control (FOC) technique can be effectively used to control the speed
and torque of induction machines in the Simulink model. The FOC algorithm is
implemented in the Simulink model by using a mathematical model of the motor that is
based on the stator current and voltage equations. In the Simulink model, the stator
Results and Analysis 22

current is transformed into a rotating reference frame using Park’s transformation. The
transformed current is then fed into the FOC controller, which calculates the torque and
flux reference values based on the motor. speed reference and feedback signals. The
torque and flux reference values are then converted into voltage references by using an
inverse Park’s transformation. These voltage references are applied to the motor through
the power electronics converter, which converts the DC voltage into a variable frequency
AC voltage to control the motor speed and torque. The Simulink model provides a
platform for testing and optimizing the FOC control parameters to achieve high-
performance control of the induction machine. The FOC technique implemented in the
Simulink model offers high accuracy, robustness, and dynamic performance.

The Motor we use in the Simulink model in of the following specification :-

It is a 50Hz, 4 pole Squirrel cage induction motor with voltage rated at 460V and with a
power rating of 150 Hp

S.NO. Nominal per phase Voltage in SI unit

parameter
1 Stator 0.0302
Resistance(Rp)
2 Rotor resistance 0.01721
(Rr)
3 Mutual Inductance 0.01095
(Lm)
4 Stator 0.000283
selfinductance (Ls)
5 Rotor 0.000283
selfinductance (Lr)
6 Moment of inertia 2
(J)

Table 4.1: Nominal per phase parameter

Results and Analysis 23

4.2 SIMULATION MODEL,RESULTS AND DISCUSSIONS

Making a virtual replica of a real-world system that consists of both software and
hardware is known as modelling.In order to assess a novel design, identify issues with
an existing design, and test a system under circumstances that are challenging to
replicate in a real system, simulation is used.If any of the system’s components are
governed by mathematical relationships, you can model and simulate their digital
representations under various scenarios to observe how they respond.

4.3 SIMULATION MODEL OF DIRECT TORQUE CONTROL

Direct torque control (DTC) is comparable to field oriented control. But because DTC does
not use a modulator to control motor torque, torque response is substantially faster.In order
to accurately estimate stator flux and motor torque, direct torque control employs

Figure 4.2: Simulation model of direct torque control

two interconnected control loops: a speed control loop and a torque control loop.
Results and Analysis 24

By directly adjusting the flux and torque of the motor, the Direct Torque Control (DTC)
vector motor control technology accomplishes motor speed control. The DTC algorithm
predicts the torque and flux values from the motor position and currents, in contrast to
field-oriented control (FOC), which controls the d- and q-axis motor currents. The motor
torque and flux are then controlled using PI controllers to eventually produce the best
voltages for running the motor.

Here’s how it works:

1 - The DC bus voltage, two motor phase currents, and switch positions of the inverter
are all measured. (The DC bus voltage and the inverter’s switch positions are used to
calculate the motor voltage.)

2 - Motor current and voltage are input into the motor model, which then employs
sophisticated mathematical methods to produce exact values of stator flux, motor torque,
and shaft speed every 25 s (or as quickly as 12.5 s in some drives).

3 - The speed control loop provides torque and flux reference values, which the torque
and flux comparators use to compare the actual torque and flux values .The torque and flux
vector.magnitudes should be held within a small hysteresis range around the reference
values by the comparators. The ability of DTC to produce quick torque response without
overshoot is largely due to this.

4 - The optimal pulse selector is fed torque and flux status signals.

5 - To maintain or adjust the motor torque as needed, the optimum pulse selector
selects the best voltage vector from a lookup table and then delivers pulses to the inverter’s
semiconductor switching devices.
Results and Analysis 25

The Motor we use in the Simulink model in of the following specification :-

It is a 50Hz, 4 pole Squirrel cage induction motor with voltage rated at 460V and with a
power rating of 150 Hp.

4.4 Simulation Result

4.4.1 FOC Results

This figure depicts the waveform of reference speed with motor speed, current and active
and reactive power of motor.
Results and Analysis 26

S.NO. Nominal per phase Voltage in SI unit

parameter
1 Stator 0.0302
Resistance(Rp)
2 Rotor resistance 0.01721
(Rr)
3 Mutual Inductance 0.01095
(Lm)
4 Stator 0.000283
selfinductance (Ls)
5 Rotor 0.000283
selfinductance (Lr)
Results and Analysis 27

6 Moment of inertia 2
(J)

Table 4.2: Nominal per phase parameter

We can see that at 2.2 seconds as the torque is increased to 400 N-m the graph of motor
speed is not overlapping with reference speed (there is a dip) and it starts overlapping
again in 150 milliseconds.

At 3.5 seconds as the torque is reduced to 40 N-m and the Wm is not following Wref again
and there is a gap of few milliseconds before it recovers. Similarly, at 4.5 seconds there is
another disturbance when torque is increased and wm deviates from wref for 200 ms.

Stair generator Stair generator

Generator a signal Generate a signal
changing at changing at
specified times. specified times.
Output until the Output until the
first specified first specified
transition time. transition time.
Parameters Parameters
Time(s) : [0,2.2, Time(s) :
3.5, 4.5] [0,0.05,3.5]
Amplitude : [0, Amplitude : [0,
400, 40, 300] 1000, 750]
Table 4.3: The waveform of reference speed with motor speed, current and active and
reactive power of motor.

In this figure 4.4, we can see the inverter output voltage.

Results and Analysis 28

Figure 4.3: Inverter Voltage

4.4.2 DTC Results

In the figure 4.6, we can see that the responses to change in load torque are within
100ms which is better compared to FOC.
Results and Analysis 29

Figure 4.4: Inverter output voltage.

Results and Analysis 30

Figure 4.5: Figure shows torque, angular speed, flux and Iabc.
Results and Analysis 31

Figure 4.6: Responses to change in load torque within 100ms which is compared to FOC.
Chapter 5 Conclusion

5.1 Conclusion
From the simulation results of the MATLAB Simulink model we can conclude that DTC
is a better method for the control of induction motor because of its faster dynamic
response.

Other reasons that can be listed out as why DTC controlling scheme is better than the
FOC controlling scheme on the basis of the Simulink model are following:-

1. Flexibility in adapting to load changes - In DTC, the stator flux and torque are
directly controlled using hysteresis comparators, which are sensitive to changes in the
load. The hysteresis comparators continuously compare the actual and reference values
of flux and torque and generate the switching signals for the inverter. This allows DTC to
adapt to load changes in real-time without requiring any feedback or feedforward
compensa-
tion.

34

Conclusion 35

2. Reduced switching losses - In DTC, the switching frequency is kept constant

andlower than the typical switching frequency used in FOC. This leads to a reduction in
the number of switching transitions, which results in lower switching losses and higher
efficiency. DTC uses a hysteresis comparator to directly control the stator flux and torque
without the need for pulse width modulation (PWM). The use of hysteresis control
significantly reduces the voltage and current ripple in the motor, which also contributes
to reduced switching losses.

3. Simplified control implementation- DTC uses a simpler control strategy

comparedto FOC, which leads to easier implementation and reduced system complexity.
DTC achieves direct control of the stator flux and torque without the need for separate
regulators or complex transformations, as is required in FOC. DTC uses hysteresis
comparators to directly compare the actual and reference values of the flux and torque.
The output of the comparators generates the switching signals for the inverter, which
controls the motor. This simple implementation allows for faster development time and
easier maintenance.