IEEE 7th International Conference on Smart Structures and Systems ICSSS 2020

Comparative Analysis of Various DTC Control

Techniques on BLDC Motor for Electric Vehicle
Mayuri S.Patil Rameshwari Medhane Prof. S.S.Dhamal
PG Student PG Student Associate Professor
Department Of Electrical Engineering Department Of Electrical Engineering Department Of Electrical Engineering
K.K.W.I.E.E. &R, Nashik K.K.W.I.E.E. &R, Nashik K.K.W.I.E.E. &R, Nashik
SPPU, Pune SPPU, Pune SPPU, Pune

Abstract−Electric vehicles are in the verge to getting excess of DC motors. Induction motors (IMs) are
advancement with boost from private operators and extensively recognized commutator-less motor for EV
government policies. Brushless DC motor is electronically thrusting for the reason that of they are vigorous, extremely
commuted motors which does not have brushes. BLDC motors
dependable and liberated from safeguarding actions. In
have a higher efficiency compared to brush motor. With
modern times, BLDC motoring functions be converted into
Sensor BLDC motors are facing problems of sensitive, and
space. In sensor-less methods, control scheme needs to evaluate
additional well-liked in industrial and day by day
the operation by measuring by back EMF generated. In BLDC employments, like CNC appliances, servo structures and
motor, direct torque control method can result in high torque electric automobiles. Prior to the newest manifestations of
ripples. In this paper, we have compared the conventional electric automobiles, cars priorly uses the BLDC cruises for
DTC with modified adaptive DTC with PID controller and windshield wipers, CD players, and power windows. At the
further the results are compared with Artificial Neural moment vehicle-makers implements 3 assorted natures of
Network based DTC method to check the operation of control electric cruising systems which are setup on BLDC design,
system and its stability. The operation is justified and verified
brushed DC motor, and AC-IM.
using MATLAB simulation.

Keywords − Electric Vehicle (EV), Brushless DC motor (BLDC),

Direct Torque Control (DTC), Proportional-Integral Controller
(PI), Artificial Neural Network (ANN)

I. INTRODUCTION

The electric thrusting system is the central component of

EV. It comprises of the motor drive, power serving device
Fig.1. BLDC Motor drive
and wheels. As a matter of fact the motor drive, mettles with
electric motor, power converter, and electronic controller, is There are numerous motives of augmenting the reputation
the core of the EV thrusting system. The motor drive is put of BLDC cruising systems. The BLDC structure has a
together to retorted to a torque requirement set by the motor permanent magnet rotor enclosed by a wound stator. The
driver. The accelerator arrangement endows with a torque winding in the stator get commutated electronically. This
requirements as a portion of the ceiling level obtainable formulates the BLDC cruise systems as:
torque. Likewise, the 1st segment of the brake pedal pass a) Effortless maintenance
through is employed to draws from a regenerative torque b) More resilient
demand; the remaining pedal pass through conveys in set of c) Smaller in size
customary mechanical brakes. Customarily, DC motors d) 80-90% extra efficient
have been outstanding in electric impulsion system for the e) Able to retort rapider at soaring speeds
reason that their torque-speed attributes ensemble with f) Effortless control for speed and reversing
traction obligations well and their speed management is g) Low on weight
uncomplicated. Freshly, a machinery enlargements have h) Avoids situations of failures
pressed on to a recent epoch of commutator-less motors, i) Capable to self-start
escorting with the benefits of soaring effectiveness, soaring
power concentration, stumpy in commission outlay,
augmented dependability, and stumpy safeguarding in

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 IEEE 7th International Conference on Smart Structures and Systems ICSSS 2020

II. CONVENTIONAL DTC

Direct torque control is a method in which we can estimate
the torque and flux of the motor individually based on
measure voltage of the motor and measure current of the
motor. Torque can achieve through the product of motor
current and flux linkage. The appraisal torque and flux The enormity of the flux can be determined with:
value will be compared with reference value. If any
= +
deviations are there with respective reference value and
tolerance then the transistors of the frequency vary as turn The arrangement of the stator flux vector can be computed
on and off in the same way it continuous, the flux and with:
torque will reach the tolerance very quickly. Direct torque
=
control is one of the forms of hysteresis.

III. ADAPTIVE FLUX BASED

CONTROL METHOD
In this loom, a PI controller was exercised to settle on most
flattering flux reference worth in agreement to the motor
speed. So, 2 diverse PI controllers were exercised in advised
DTC (P-DTC) scheme. Amidst the set, one PI controllers
analyzes reference torque and the extra one computes
reference flux with use of the speed error estimates. The
Fig.2.Drive Control Circuit of BLDC Motor computation of the electro-magnetic torque of the BLDC
cruise system in α−β reference frame is written underneath:
The BLDC cruise arrangement has 3-ph stator windings
along with PM rotor where the voltage equations of motor
can attained by the written equation: Where, λrα,λrβ are the α−β constituents of the rotor flux
vector, p is the number of the poles and θe is electrical angle
of the rotor. The α−β constituents of the rotor flux vector
can be acquired as:

Where Va, Vb, Vc are ph-voltages, R is resistance, L is ph-

inductance, ia, ib, ic are ph-currents and ea, eb, ec are back-
EMFs. The moment(mech) eq. for motor agreed as written The diverse outlines of the rotor flux α−β constituents can
equation: also be acquired from the trailing numerals:

= + +
TL, Te portrays produced load torque and electro-magnetic
torque, correspondingly. friction coefficient as B, inertia j
and the angular velocity of rotor as ωm. The DTC technique
The 6 active voltage vector, PWM inverter switching
requires alteration of the 3- ph cruising system bounds to 2-
affirms and stator voltage vector quarters are publicized in
ph. The Clarke transformation matrix is given by:
diagram.

Where, α-β components of motor parameters are given as

fα,fβ, and fa,fb, fc are the a-b-c frame constituents. With the
reconstruction of the motor 3-ph parameters, components of
the α-β ph-voltages can be written as:

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 IEEE 7th International Conference on Smart Structures and Systems ICSSS 2020

the artificial neuron is calculated by the sum of all inputs are

multiplied by their specific weight. There is a threshold
value for each artificial neuron. If the total threshold value
is greater than threshold then artificial neuron gives output
as 1 if not it gives output as 0. Then this output is fed into
all the artificial neuron which is connected to it. ANN is a
computational system impelled by the Structure Processing
Method Learning Ability of a characteristic personality.
Diagram below shows the architecture of artificial neural
Fig.3.Stator Voltage Vector Diagram for PWM switching states network.
Outline underneath demonstrates the block illustration of
the BLDC Motor direction arrangement. The joint roll angle
is determined and weigh against with that of the yearning
flight path angle,φd. The roll angle error is managed through
the proportional– integral–derivative (PID)-based feedback
linearization controller to offer the necessitated reference
torque, Te_ref. Fig.5. Schematic Diagram of the ANN-Structure

In ANN we have inputs and outputs for getting

outputs there is a hidden layer in between inputs and
outputs. If error has occurred in output, to minimize the
error the ANN itself gets back propagated from outputs to
input. If the ANN didn’t get any error and we got required
output then this process is called feed forward and vice
versa of this method is called feed forward back
propagation. In ANN we are using Feed Forward Back
Fig.4. Block diagram of the BLDC motor control system
propagation method to compensate the error and from the
speed controller. In ANN from the input there exist weights
The stator 3-ph reference currents are estimated by means of
which are given to the hidden layer. Each and every input of
numerals underneath for a worth of torque equivalents the
ANN has different weights which are connected to hidden
reference torque.
layer.
From the speed control we gain the reference
torque. Actual torque is gain from the motor. The difference
between the reference torque and actual torque is known as
Torque Error. Torque should not be exceeding the limit so
we torque hysteresis. Torque controller will take care sector
commutation and gives it to the voltage switching table
from switching table is to produce PWM pulses from the
Above and beyond, it is evaluated with their particular
PWM pulses the inverter will be operated. From inverter
genuine worths. The 3-ph currents slip-ups are managed by
BLDC motor will be operated.
means of a P-control and a pulse width modulation is
exercised to spawn the apposite switching pointers for the
V. SIMULATION AND RESULTS
inverter semi-conductor switches.
Simulation analysis had been performed for the three
methods viz. Conventional DTC(C-DTC), Adaptive Flux
IV. ARTIFICIAL NEURAL NETWORK BASED
based control method (P-DTC) and Artificial Neural
DTC METHOD
Network-DTC(ANN-DTC) based method. The results for
each method had been presented in this section for
In Artificial neural network (ANN) logic, each artificial
comparative analysis and to check the effectiveness of each
neuron has multiple inputs and each input has its weights.
Every weight has its significant role and the total value of

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 IEEE 7th International Conference on Smart Structures and Systems ICSSS 2020

method. Figure 6 shows the simulink model for the C-DTC

method implementation.

Fig.10. Proportional control Results for Speed response of the BLDC in

inconsistent speed-constant load

The BLDC cruise system speed and torque traces were

Fig.6. C-DTC Simulink model of Motor Drive progressed with P-DTC technique. In high speed reference
values, the torque and speed undulations diminished
astonishingly with the P-DTC technique.

Fig.7.C-DTC: Variable Speed-Constant Load

Response for Speed for BLDC motor

Fig.11. Proportional control Results for Torque response of the BLDC in

In changeable torque and changeable speed purposes, like
variable speed-constant load
petite electric automobiles, maintaining the flux unvarying
origins lofty torque and speed undulations. The torque and
DTC-ANN relies significantly on stator current and rotor
speed ripples need to be reduced significantly as far as high
flux, which is then used for approximation of the speed of
speed applications are concerned.
the cruising system. DTC bounds are fewer responsive to be
adjusted and afford high dynamic reactions of torque and
flux, than the classical vector control.

Fig.8. C-DTC: Inconsistent Speed-Constant Load

BLDC Zoomed Speed Response

Fig.9. BLDC Torque tracer in inconsistent Speed-Constant Load

Fig.12. Proposed ANN based DTC Scheme

The important point in DTC is the right selection of the

The ANN is educated by a Taught algorithm which executes
stator voltage vector. The optimization of the process can be
the adjustment of weights of the network iteratively in
done by using PI controller in DTC system which gives the
anticipation of the error amid objective vectors and harvest
controlled output and it is considered as reference torque
of the ANN is fewer than an error objective. The largely
value. The PI controller gain values tuning is essential to get
admired taught algorithm for multiple-layer networks is the
optimum output. Optimized DTC can improve the system
back-propagation algorithm that gets executed by ANN
performance by continuously tuning the Kp & Ki values.
software package like neural network toolbox from
MATLAB.

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 IEEE 7th International Conference on Smart Structures and Systems ICSSS 2020

for craming and understand DTC. In judgment with the C-

DTC, this method of ANN-DTC do away with the contact
of the coupled items, and attains high stoutness adjacent to
commotions.

VI. CONCLUSION

In C-DTC technique, management algorithms efforts with

two disconnected reference worth known as torque (or
Fig.13.Implementation of DTC-ANN Control loop
speed) and flux references. Major dissimilarity from the
predictable technique of it was that only one reference
constraint (speed) was utilized to manage the BLDC
cruising system and the next managing stricture (flux) was
attained as of speed error during the control scheme. Thus,
the DTC performance got in particular advancements on
arrangements which need changeable speed and torque
during functions, like electric automobiles. Direct torque
control of sensor-less BLDC motor using Artificial Neural
Network is developed with the assistance of an optimized
Fig.14.ANN Results for Speed response of the BLDC in variable speed- Switching table. Voltage vectors are chosen in such a way
constant load that it reduces torque ripple. Here we are gone through
Sensor less of BLDC motor using Back EMF method. ANN
resulted in better control and suited for better performance
of the motor.

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