Space Vector Modulated Direct Torque Control of an

Open-end Winding Induction Motor Drive with

Three-Level Inversion
IECON 2021 - 47th Annual Conference of the IEEE Industrial Electronics Society | 978-1-6654-3554-3/21/$31.00 ©2021 IEEE | DOI: 10.1109/IECON48115.2021.9589493

Kunisetti V. Praveenkumar, Member, IEEE Thippiripati Vinay Kumar, Senior Member, IEEE
Assistant Professor, Assistant Professor,
Electrical Engineering Department, Electrical Engineering Department,
Sardar Vallabhbhai National Institute of Technology, National Institute of Technology,
Surat, India Warangal, India
[email protected] [email protected]

Abstract - In the recent trends Direct Torque Control (DTC) therefore it gives more ripples in torque and flux. The
and Predictive Torque Control (PTC) algorithms turned as viable scheme of DTC provides high current and torque distortions
alternative to Field Oriented Control (FOC) of AC motor drives. during sector changes. The behavior of bang-bang
Induction motor drives are popular in industrial applications and controllers is different when they are used with DSPs [7].
electric vehicles (EV). This article presents, experimental
verification of space vector modulated DTC (SVMDTC) and PTC
In order to make switching frequency as constant,
of an open-ended induction motor drive (OEIMD). The scheme of dithering technique is used. The concept of dithering
SVMDTC offers less torque and flux ripples with constant involves high switching frequency triangular waves [8].
switching frequency, whereas PTC operates with variable Later on, the concept of dithering was introduced to a three-
switching frequency. This article provides comparison between level inversion fed induction motor drive. In [9], the concept
SVMDTC and PTC strategy of an OEIMD with three-level of sinusoidal dithering is introduced for induction motor
inversion. This article introduces a simplified SVMDTC algorithm drive to address the problem of stator flux demagnetization.
for an OEIMD with less torque and flux ripples. The experimental To maintain the constant switching frequency space vector
studies are performed with dspace DS-1104 controller board. modulation based DTC (SVMDTC) strategy was introduced
Keywords— Direct torque control, Model predictive control,
[10]. The SVMDTC requires three PI controllers. In [11], a
predictive torque control, space vector modulation, open-ended modified SVMDTC was introduced with two PI controllers.
induction motor drive, torque ripple, three-level inversion. Out of two PI controllers, one is speed PI and another is
Torque PI controller [12]. Further, many of the researchers
I. INTRODUCTION concentrated on SVMDTC strategies with dead-beat
technique [13]. The dead-beat technique is further more
The induction motors are more popular in many complex than SVMDTC [14]. In SVMDTC, the
industrial applications, electric vehicles due to its simplicity computation of reference voltage space vector and its
and rugged construction [1]. In the early 1960s the induction impact on torque and flux ripples are investigated with an
motors are used for constant speed applications, the advent adaptive stator flux observer [15]. In [16],[17], a
of power semi-conductor devices the induction motors comparative study has been performed between SVMDTC
replaced the existing DC motors [2]. The speed control of versus vector control of Permanent Magnet Synchronous
induction motor is tedious, due to the fact that the rotor and Motor Drive (PMSMD) and [16] argued that the developed
stator components are inter-dependent. Therefore to SVMDTC is more robust than vector control without
decouple stator and rotor components FOC of induction involving park transformation, rotor position estimation of
motor drives are introduced [3], [4]. The scheme of FOC PMSMD. The dynamic variations of torque and flux
has following limitations: i) needs current control loop, ii) obtained by proper selection of voltage vector, a closed loop
requirement of co-ordinate transformation, iii) requires torque control have been investigated to study the impact of
modulator, iv) rotor flux estimation (rotor flux observer), (v) small and rapid torque pulsations [18].
computation of rotor flux angle and requirement of complex In contrast to SVMDTC, many of the researchers
trigonometric computations etc [5]. To circumvent the focused on the combination of model predictive control with
above limitations, Takahashi introduced concept of Direct DTC, which made the PTC strategy for AC motor drives.
Torque Control (DTC) [6]. The scheme of DTC gives The scheme of PTC became popular due to its advantages
higher ripple in torque and flux due to variable switching and features. The concept of PTC gives all the benefits of
frequency caused by bang-bang controllers. DTC but it can’t operate with constant switching frequency.
The implementation of DTC with digital signal There are various limitations for PTC strategy, even it has
processors (DSP) require high sampling frequencies several advantages. In [19]-[21] focused on elimination of

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 weighting factors and reducing torque and flux ripples by The pole voltages of inveter-1 are denoted as Vxn, Vyn,
choosing appropriate voltage vector. However, the Vzn (1) and similarly the pole voltages of inverter-2 denoted
computational burden of PTC is high, to address these as Vxʹnʹ, Vyʹnʹ and Vzʹnʹ (2). The difference of pole voltages of
issues further studies are continuing. inverter-1 and inverter-2 is represented as (3).
In [22]-[24] DTC and PTC strategies of OEIMD have V xn 
been introduced. The OEIMD has several features and V   V dc / 4 when S x  S y  S z  1 (1)
applications when compared with other MLI topologies  yn   V / 4 when S  S  S  1
 dc x' y' z'
[25]. OEIMD will operate with three-level inversion when V zn 
the two inverters are operated with equal DC-link voltages. V x 'n ' 
Nevertheless, the implementation of SVMDTC is quite V   V dc / 4 when S x'  S y'  S z'  1 (2)
difficult for multi-level inverter (MLI) fed induction motor  y 'n '   V / 4 when S  S  S  1
 dc x' y' z'
drive applications. The main intent of this article is to V z 'n ' 
develop space vector modulated DTC algorithm for an  V xx'  V xn  V x 'n' 
OEIMD with three-level inversion. As OEIMD require two V   V  V 
two-level inverters, the SVM strategy of OEWIMD is quite  yy '   yn y 'n '  (3)
simple. Since, the OEIMD has two two-level inverters;  V zz '  V zn  V z 'n ' 
therefore it requires SVM strategy of classical two-level The zero-sequence voltage (ZSV) of power circuit
inversion case. In [10], discrete SVM has been introduced shown in Fig. 1 is (4),
with the concept of virtual voltage vectors. The concept of
virtual voltage require computation of pre-fixed time 
V nn'  1 V xx'  V yy '  V zz '
3
 (4)
intervals for each and every voltage vector [26], which The output phase voltages are obtained by subtracting (3)
causes more computational burden on controller. The and (4). The output phase voltages of power circuit shown
proposed SVMDTC strategy uses the concept of imaginary in Fig. 1, is given by (5), and its simplified form is (6).
switching times and load angle control strategy to reduce V xx'   V xx ' 
number of PI controllers. The Proposed SVMDTC strategy V   V   V
reduces torque and flux ripples. The proposed SVMDTC  yy '   yy '  nn' (5)
strategy has been simulated with MATLAB/SIMULINK V zz '   V zz ' 
and the obtained results are compared with PTC of V xx'   2  1  1  V xx' 
OEWIMD with three-level inversion [27]. The obtained V   1  1 2  1 V 
 yy '  (6)
simulation results are also verified with experimental 3   yy ' 
studies. The experimental studies are performed by V zz '   1  1 2   V zz ' 
implementing the proposed SVMDTC and PTC strategies
with dspace DS-1104 controller.

II. MATHEMATICAL MODEL OF POWER CONVERTER

The power circuit configuration of OEIMD to obtain
three-level inversion is as shown in Fig. 1. In Fig. 1, the two
inverters are operated simultaneously with equal DC-link
voltages. The symmetrical configuration of the power
circuit shown in Fig. 1, gives three-level output voltage. The
two inverters can provide ‘64’ switching combinations.
Among the 64 switching combinations, the OEIMD
operates with 27 space vector locations and these are shown
in Fig. 2. This is main the feature of OEIMD, therefore the
developed configuration is rich in redundancy of switching
states.
Inverter-1 Inverter-2
Vdc / 4
Vdc / 4

Sy+ Sz+ Sz'+ Sy'+ Sx'+

Sx+
Fig. 2. Volage space vector locations of OEIMD.
Vdc / 2
Vdc /2

x x'
n
y y'
n'
The voltage space vector (VSV) of inverter-1 is given by
z z'
(7), whereas (8) represents VSV of inverter-2 and (9) gives
Vdc / 4

OEIM
Vdc / 4

Sx- Sy- Sz- Sz'- Sy'- Sx'- the VSV present at the motor terminals.
2 V  j 2 j 4 
Fig. 1. Power Circuit of OEIMD. V1  * dc  S x  S y e 3 S e
z
3
 (7)
3 2  

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 2 V dc  ' j 2 j 4  in classical SVMDTC. The simulation diagram used for
V2  *  S x  S 'y e 3 S' e
z
3  (8) individual inverter is as shown in Fig. 4. The overall
3 2   simulation diagram is as shown in Fig 5.
and V r  V1  V 2  (9) The Kim-Sul algorithm is developed for the OEIMD is
as follows. For inverter-1 the reference voltage vectors are
III. DYNAMIC MODEL OEIMD USED FOR SIMULATION calculated by using (7) and whereas for inverter-2 the
STUDIES reference voltage vector has been obtained by considering
The discrete model of OEIMD has been used for the 1800 phase shift, which means in order to operate the two
implementation of PTC strategy, whereas the SVMDTC do inverters exactly in opposite manner so as to obtain (9).
not use discrete model. For simplicity and to generalize the From the reference voltage space vector reference voltage
discrete model, the motor model at kth instant is used for waveforms for each phase are obtained.
SVMDTC. The prediction of flux, torque and currents are  sl s
Tref ψ*s ψ s Vsref
obtained at (k+1) instant and these are used for PTC of
r
OEIMD. Te ψref ψs
The voltages applied to stator of OEIMD in stationary
reference frames is as shown (7) and the rotor voltage is
given by (8)
V s  g  R s i s  g  p s  g (7)

0  R r i r  g  p r  g  j e  r  g (8)
Fig. 3. The block diagram of the proposed SVM DTC.

The stator and rotor flux of OEIMD are given by

 s  g  L s i s  g  Lm i r  g (9)

 r  g  Lr i r  g  Lm i s  g (10)

The torque of OEIMD is shown by (10)

T
3P
22

imag  s  g * i s  g  (11)
Fig. 4. Simulation diagram of SVM algorithm with the concept of
imaginary switching times.
The dynamic mechanical model of OEIMD is given by
The switching time periods are obtained from
d m instantaneous reference voltages based on imaginary
J  T  Tl  (12) switching time’s concept as follows (13).
dt
T x  V x* 
IV. PROPOSED SVMDTC ALGORITHM T   T s  *
 y V V y  (13)
The simple block diagram of space vector modulated dc  *
T z 
DTC of OEIMD with load angle control is as shown in Fig. V z 
3. In Fig. 3, the reference torque is obtained from reference
speed. The output of torque PI controller generates slip From (13), the voltage vector switching time periods T1 &
T2 may be expressed as
angle and rotor angle is determined from dynamic model of
OEIMD. The addition of rotor angle and slip angle gives T1  T x  T y and T2  T y  T z (14)
stator flux angle. If the stator flux angle (Load angle) is
known then the stator flux vector has been determined with In similar the voltage vector switching times can be
reference flux magnitude. For simulation and experimental expressed in other sectors in terms of imaginary switching
studies the reference flux has been considered as 1 Wb. times. The effective time (Tef) is obtained by taking the
The simulation and experimental studies of OEIMD has difference of max and min values of Tx, Ty and Tz (15). The
been developed by considering individual inverters and time To is period of null vector (16)
Kim-Sul based SVM algorithm has been applied for two Tef  max(T x , T y , T y ) - min(T x , T y , T y ) (15)
inverters. Therefore it is very is easy to implement. The
Kim-Sul algorithm depends on the concept of imaginary To  Ts  T1  T2  (16)
switching times. The implementation classical SVM
algorithm requires more computational time and generation The obtained null-vector period is divided equally by using
of pulse patterns is tedious. The implementation of SVM off-set time and it is given by (17).
algorithm is quite cumbersome, whereas the proposed
algorithm does not require complex calculations as involved

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 200
Toffset    T
To Speed (rad/s)
(17)
2  min
0
 -200
0.8 0.9 1 1.1 1.2 1.3
The minimum switching frequency obtained by switching 5
0
the vectors To/2, T1, T2 and To/2. The same kimsul -5 Torque (Nm)
-10
algorithm has been applied for the other inverter but the -15
0.8 0.9 1 1.1 1.2 1.3
reference phase voltages are taken with 1800 phase shift. 1.05
Therefore the proposed SVMDTC is simple and require less 1
PI controllers. 0.95
Flux (Wb)
0.8 0.9 1 1.1 1.2 1.3
10
V. SIMULATION AND EXPERIMENTAL RESULTS 0
The proposed SVMDTC is simulated and verified -10 Current (A)
0.8 0.9 1 1.1 1.2 1.3
experimentally. This section describes simulation and 500
experimental results of OEIMD with SVMDTC and PTC 0
algorithm as used in [27]. The details of OEIMD used for -500 Voltage (V)
simulation and experimental studies are as shown in Table 0.8 0.9 1 1.1 1.2 1.3
100
1. The simulation and experimental results are shown from
0
Fig. 5 to Fig. 11. Fig. 5 and Fig. 6 describes speed, torque, CMV (V)
flux, phase current, phase voltage and ZSV of OEIMD with -100
0.8 0.9 1 1.1 1.2 1.3
SVMDTC and PTC. Fig. 7 demonstrates torque ripple of Time(Sec)
OEIMD with SVMDTC and PTC. From Fig. 5, 6and 7 it is Fig. 5. Simulated response of OEIMD at 250 rad/s (SVMDTC).
obvious that proposed SVMDTC gives lesser torque and
flux ripple. Fig. 8 demonstrates phase voltage of PTC and
SVMDTC. Fig. 9 demonstrates experimental results of 200
0 Speed (rad/s)
OEIMD at a speed of 250 rad/s with SVMDTC and PTC. -200
From Fig. 9 also it is evident that the proposed SVMDTC 0.8 0.9 1 1.1 1.2 1.3
gives fewer ripples. Fig. 10 demonstrates phase voltage and 5
0
ZSV at of OEIMD at 250 rad/s. Fig. 11 presents voltage -5
-10 Torque (Nm)
THD of SVMDTC and PTC of OEIMD of experimental 0.8 0.9 1 1.1 1.2 1.3
response shown in Fig. 10. 1.05
1
TABLE I. Detailed parameters of OEIMD. 0.95 Flux (Wb)
0.8 0.9 1 1.1 1.2 1.3
Parameter Quanity 10
0
Resistance of Stator (Rs) 4.2 Ω -10 Current (A)
0.8 0.9 1 1.1 1.2 1.3
Resistance of Rotor (Rr) 2.67 Ω 500
0
SelfInductance of stator (Ls) 0.54 H -500 Voltage (V)
0.8 0.9 1 1.1 1.2 1.3
Self-Inductance of rotor (Lr) 0.54 H 100
0 CMV (V)
Mutual Inductance (Lm) 0.512 H -100
0.8 0.9 1 1.1 1.2 1.3
Number of Poles (P) 4 Time (Sec)
Inertia (J) 0.031 kg-m2 Fig. 6. Simulated response of OEIMD at 250 rad/s (PTC).
Vdc 500 V 2
0 Torque Ripple (Nm)
From the simulation and experimental results the proposed PTC
-2
SVMDTC gives less torque and flux ripples when compared 1.3 1.4 1.5 1.6 1.7 1.8 1.9 2
2
with PTC of OEIMD with three-level inversion [27]. The
advantages of SVMDTC are as follows: i) It needs 0 Torque Ripple (Nm)
computational burden (53 µs) when compared with PTC (65 SVMDTC
-2
µs). ii) The proposed SVMDTC is simple, iii) The proposed 1.3 1.4 1.5 1.6 1.7 1.8 1.9 2
SVMDTC obtained by configuring the power circuit with Time (Sec)
two two-level inverters. iv) The lower order harmonics of Fig. 7. Torque ripple of OEIMD with SVMDTC (top) and PTC (bottom).
phase-voltage shifted to switching frequency, therefore filter
design is easy. v) The proposed SVMDTC gives the same
performance as that of PTC with three-level inversion, even
it gives lower torque and flux ripples.

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 400

200

-200 Phase Voltage (V)

PTC
-400
1.3 1.31 1.32 1.33 1.34 1.35
400
Phase Voltage (V)
200 SVMDTC

-200

-400
1.3 1.31 1.32 1.33 1.34 1.35
Time(Sec)
Fig. 8. Phase voltage of OEIMD with PTC (top) and SVMDTC (bottom)

Fig. 10. Experimental response of speed voltage and ZSV of OEIMD with
(a) SVMDTC and (b) PTC.

Fig. 11. Voltage THD of SVMDTC (top) and PTC (bottom).

Fig. 9. Experimental response of speed, torque , flux of OEIMD with (a) TABLE II. Quantified analysis of SVMDTC and PTC of OEIMD.
SVMDTC and (b) PTC. Parameter SVMDTC PTC [27]
The limitations of developed SVMDTC are as follows: i) it Torque ripple (Nm) 1.22 (Average) 1.35 (Average)
needs carrier signal and co-ordinate transformations Flux ripple (Wb) 1.85 % 2%
whereas PTC does not require, ii) it gives more voltage ZSV (V) 58.35 62.3
THD than the PTC. The second limitation can be suppressed Voltage THD (%) 54.55 39.26
Switching frequency (Hz) 2500 3928
by using a high frequency carrier signal, whereas co-
ordinate transformation is unavoidable. Therefore from the
above discussion the proposed SVMDTC has advantages VI. CONCLUSION
and disadvantages when compared with PTC of OEIMD
This article, introduced SVMDTC strategy for an
with three-level inversion. The advantages of proposed
OEIMD, which can be used for EV applications. The
SVMDTC have more sound rather than its limitations.
simplicity of the proposed SVMDTC has been explained in
Therefore the proposed SVMDTC is more interesting area
brief. The addition of load angle control strategy to
for researchers, the combination of SVM with PTC left for
SVMDTC reduces number of PI controllers. As the number
future scope. Table 2, presents quantified details of
of PI controllers is less, the complexity of experimental
proposed SVMDTC and PTC.
verification has been reduced. This article, gives a detailed

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 comparison between SVMDTC and PTC of OEIMD with [16] M. C. Paicu, I. Boldea, G. -. Andreescu and F. Blaabjerg, "Very low
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[18] Z. Koutsogiannis, G. Adamis and A. Fyntanakis, "Direct torque
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and Engineering Research Board (SERB) under Start-up the drive, via a fuzzy logic controller for speed regulation," 2007
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