International Journal of Applied Power Engineering (IJAPE)

Vol. 14, No. 1, March 2025, pp. 235~243

ISSN: 2252-8792, DOI: 10.11591/ijape.v14.i1.pp235-243  235

DTC analysis of DCMLI driven PMSM-SVM drive

Rakesh G. Shriwastava1,7, Pravin B. Pokle2, Ajay M. Mendhe3, Nitin Dhote4, Rajendra M. Rewatkar5,
Rahul Mapari6, Ranjit Dhunde7, Hemant R. Bhagat Patil8, Ramesh Pawase9
1
Department of Electrical Engineering, Govindrao Wanjari College of Engineering and Technology, Nagpur, India
2
Department of Electronics Engineering, Priyadarshini J.L. College of Engineering, Nagpur, India
3
Departments of Electrical Engineering, Priyadarshini J.L. College of Engineering, Nagpur, India
4
Department of Electrical Engineering, St. Vincent Pallotti College of Engineering and Technology, Nagpur, India
5
Department of Faculty of Engineering and Technology, Datta Meghe Institute of Higher Education and Research, Wardha, India
6
Department of Electronics and Telecommunication Engineering, Pimpri Chinchwad College of Engineering and Research, Pune, India
7
Department: School of Technology, Management and Engineering, SVKM'S NMIMS Navi, Mumbai, India
8
Department of Mechanical Engineering Govindrao Wanjari College of Engineering and Technology, Nagpur, India
9
Department of Electronics and Telecommunication Engineering, Amrutvahini College of Engineering Sangamner, Ahmednagar, India

Article Info ABSTRACT

Article history: The paper focuses on a comparative analysis of direct torque control (DTC)
space vector modulation (SVM) based permanent magnet synchronous motor
Received Jan 8, 2024 (PMSM) drive. This comparative analysis is based on a conventional inverter
Revised Sep 13, 2024 and a 3-level dual-cell modular multilevel inverter (DCMLI) using the SVM
Accepted Oct 23, 2024 technique using MATLAB simulation. The present DTC-PMSM drive
consists of flux and torque hysteresis comparators and has a problem of
switching frequency and torque ripple. The problems are solved by using
Keywords: SVM to provide more inverter voltage and it compensates for torque and flux
error in a DTC. A reference voltage space vector is calculated every time using
Direct torque control the algorithm on the basic of torque error and stator flux angle. It was proposed
Dual-cell modular multilevel to control torque, torque angle, and stator flux in DTC-PMSM. From the
inverter detailed comparison, the DTC-DCMLI PMSM drive has an exact solution of
Permanent magnet synchronous problem-solving of switching frequency and torque ripple due to less distorted
motor output. Proposed drives can be applicable for hardware implementation in
Space vector modulation automotive applications.
Total harmonic distortion This is an open access article under the CC BY-SA license.

Corresponding Author:
Rakesh G. Shriwastava
Department of Electrical Engineering, Govindrao Wanjari College of Engineering and Technology
Nagpur, India
Email: [email protected]

1. INTRODUCTION
In hybrid electric vehicles (HEVs), electric motors (EMs) and generators are the primary workhorses.
The batteries and operate the motors and generators. To drive the wheels, motors produce the required torque
in HEVs. The permanent magnet is used [1]-[5]. Electric propulsion systems are the main part of electric
vehicles (EV). It consists of electric motors, power converters, and electronic controllers [6]-[12]. DTC method
is proposed to maintain constant switching frequency and also reduce torque and current ripple [13]-[18]. This
paper focuses on a novel method of DTC-based dual-cell modular multilevel inverter (DCMLI) using SVM
techniques used in electrical vehicles [19]-[21].
The DTC method has excellent dynamic performance, robust and simple in nature. The drawbacks of
the DTC are variable switching frequency, flux ripples, and relatively high torque in the case of Induction
motors. The results of the DTC of PMSM can be improved by maintaining a fixed switching frequency, and
reducing the torque ripples and flux using the novel technology of SVM [22]-[25]. This paper presents a DTC-

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236  ISSN: 2252-8792

based 2-level and 3-level DCML inverter using SVM techniques. In section 3, the direct torque control principle
is explained. In sections 4 and 5, control topology is presented. In section 6, the simulation results are presented.

2. PMSM MATHEMATICAL MODEL ANALYSIS

Following are the PMSM mathematical model analysis in d-q coordinate system, the torque equations
are (1)-(4).

𝜆𝐷 = 𝐿𝐷 𝐼𝐷 + 𝜆𝑅 (1)

𝜆𝑄 = 𝐿𝑄 𝐼𝑄 (2)

𝜆𝑠 = √(𝜆2𝐷 + 𝜆2𝑄 ) (3)

3
𝑇𝐸𝑀 = ( ) 𝑃(𝜆𝐷 𝐼𝑄 − 𝜆𝑄 𝐼𝐷 ) (4)
2

The d-q current equations are (5) and (6).

𝜆𝐷 −𝜆𝑄
𝐼𝐷 = (5)
𝐿𝐷

𝜆𝐷
𝐼𝐷 = (6)
𝐿𝑄

The flux linkage equations are (7) and (8).

𝜆𝐷 = 𝜆𝑆 𝑐𝑜𝑠𝛿 (7)

𝜆𝐷𝑄 = 𝜆𝑆 𝑠𝑖𝑛𝛿 (8)

Put in the torque expression as shown in (9).

3 |𝜆𝑆 |
𝑇𝐸𝑀 = ( ) 𝑃 (2𝜆𝑅 𝐿𝑄 𝑠𝑖𝑛𝛿 − |𝜆𝑆 |(𝐿𝑄 − 𝐿𝐷 )𝑠𝑖𝑛2𝛿) (9)
2 2𝐿𝐷 𝐼𝑄

3. PROPOSED METHODOLOGY
A DTC PMSM drive is shown in Figure 1. Stator voltage vectors are used for torque control and
hysteresis stator flux. For the selection of voltage vectors, hysteresis comparators are used. In hysteresis,
comparators are replaced by error measurements, torque, and estimators. It gives a good dynamic performance
having less torque and flux ripple. For getting more inverter output voltage in effective time a novel CB-SVM
method is used. In CB-SVM, inverter gating signals are used in a simple form using a time relocation algorithm.
All the motor parameters are converted in one form to another by using the park and Clark transformation.

Figure 1. Proposed DTC PMSM drive

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Int J Appl Power Eng ISSN: 2252-8792  237

4. SIMULATION RESULTS ANALYSIS

With MATLAB software, the investigations on DTC-based conventional and three-level inverter
PMSM drives have been done. The SVM method has been applied to the conventional and multilevel inverter-
driven PMSM drive. Figures 2 and 3 show the Simulink model of DTC-based conventional and multilevel
inverter PMSM drive. Figures 4 and 5 show the inverter voltage and current output of conventional and three
levels using SVM. Figures 6-8 show the speed, electromagnetic torque, and stator rotor flux response
respectively. Figures 9 and 10 show the total harmonic distortion (THD) analysis of voltage and current.
Tables 1 and 2 show the THD analysis and torque ripple analysis of DTC-based conventional and three-level
inverter PMSM drive. The specification of PMSM as in Table 3.

Figure 2. Simulink model of DTC based conventional inverter PMSM drive

Figure 3. Simulation model of DTC based DCMLI PMSM drive

DTC analysis of DCMLI driven PMSM-SVM drive (Rakesh Shriwastava)

238  ISSN: 2252-8792

(a) (b)

Figure 4. Voltage response of (a) two-level and (b) multilevel inverter

(a) (b)

Figure 5. Stator current response of (a) two-level and (b) multilevel inverter

(a) (b)

Figure 6. Torque response of (a) two-level (b) multilevel inverter

(a) (b)

Figure 7. Speed response of (a) two-level and (b) multilevel inverter

Int J Appl Power Eng, Vol. 14, No. 1, March 2025: 235-243
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(a) (b)

Figure 8. Motor flux response: (a) two-level and (b) multilevel inverter

(a) (b)

Figure 9. FFT response of stator voltage: (a) two-level and (b) multilevel inverter

(a) (b)

Figure 10. FFT response of stator current: (a) two-level and (b) multilevel inverter

Table 1. THD analysis

THD Two level with SVM Three -level with SVM
Line voltage 10.89% 10.04%
Line current 2.41% 2.33%

Table 2. Torque ripple analysis

Controller speed Two-level with DTC- SVM Three-level with DTC- SVM
500 rpm 21.58% 18.5449%
1000 rpm 20.54% 17.26%
1500rpm 18.27% 15.86%

Table 3. Specification of PMSM

Sr. No. PMSM parameter Value Sr. No. PMSM parameter Value
1. Stator resistance 2.885 Ω 5. q-axis inductance 8.5×10-3 H
2. PM flux 0.185 Wb 6. Torque 0.051 Nm
3. No of pole pairs 4 7. Movement of inertia 2.26×10-5 Kg/m2
4. d-axis inductance 8.5×10-3 H 8. Viscous coefficient 1.349×10-5 Nms
DTC analysis of DCMLI driven PMSM-SVM drive (Rakesh Shriwastava)
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5. HARDWARE MODEL AND EXPERIMENTAL RESULTS

Figure 11 shows the hardware design of the DTC-PMSM drive Figure 12 shows inverter phase voltages
of DTC-SVM at (a) 40 Hz, (b) 45 Hz, and (c) 50 Hz. Figure 13 shows inverter line voltages of DTC-SVM
at (a) 40 Hz, (b) 45 Hz, and (c) 50 Hz. Figure 14 shows the motor inverter current response.

Figure 11. Hardware design of DTC-PMSM drive

(a) (b) (c)

Figure 12. Inverter phase voltages of DTC-SVM at (a) 40 Hz, (b) 45 Hz, and (c) 50Hz

(a) (b) (c)

Figure 13. Inverter line voltages of DTC-SVM at (a) 40 Hz, (b) 45 Hz, and (c) 50 Hz

Figure 14. Motor inverter current response

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6. CONCLUSION
This paper presents a DTC analysis of a DCMLI-driven PMSM-SVM drive using MATLAB
software. The SVM method provides a better steady-state response of DCMLI-driven PMSM drive as
compared to a conventional inverter. SVM is easy and the fastest method for torque ripple and THD reduction.
The proposed multilevel inverter PMSM drive gives lesser harmonic distortion, distorted output, torque ripple,
and better control performance. Also, the driving performance of multilevel inverter-driven PMSM drives is
better compared to conventional inverter-driven PMSM drives and hence It is suited for EV applications.

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BIOGRAPHIES OF AUTHORS

Dr. Rakesh G. Shriwastava obtained Ph.D. degree in electrical engineering

specializing in power electronics and drives from RTM Nagpur University, (India) in 2017.
He occupied various positions to serve the engineering institutes for about 24 years. He is
currently working as a professor in the Department of Electrical Engineering, Govindrao
Wanjari College of Engineering & Technology, Nagpur. His research interests include the
analysis and control of electrical drives, particularly in hybrid, and electric vehicle
applications. He can be contacted at email: [email protected].

Dr. Pravin B. Pokle born in 1976, received a B.E. degree in Electronics

Engineering in 1998, M. Tech. degree in VLSI from RTM Nagpur University, Nagpur in
2008, and a Ph.D. in Electronics Engineering from RTM Nagpur University, Nagpur in 2015.
Currently, he is working as an assistant professor and head of the Department of Electronics
and Telecommunications Engineering at Priyadarshani J.L. College of Engineering, Nagpur,
India. He can be contacted at email: [email protected].

Dr. Ajay M. Mendhe graduated in Electrical Engineering from YCCE, Nagpur.

He has a post-graduation in Electrical Power Systems from SSGMCE, Sheagaon, Amaravati
University, and a Diploma in Business Management from Nagpur University. He is
completed his Ph.D. from SSSUTMS, Sehore (MP). He is working as an associate professor
and Head of the Electrical Engineering Department of Priyadarshini J. L. College of
Engineering Nagpur. He can be contacted at email: [email protected].

Dr. Nitin Dhote did graduation in Electrical Engineering from VNIT, Nagpur.
He graduated in Electrical Power Systems from the Government College of Engineering,
Amravati and Diploma in Business Management and a Ph.D. from RTM, Nagpur University.
He is working as a professor and head of the Electrical Engineering Department of SVPCET,
Nagpur. He can be contacted at email: [email protected].

Int J Appl Power Eng, Vol. 14, No. 1, March 2025: 235-243
Int J Appl Power Eng ISSN: 2252-8792  243

Dr. Rajendra M. Rewatkar obtained his B.E. degree in Electronics Engineering

from RTM Nagpur University Nagpur, India in 1996. He received the M. Tech. Degree in
Electronics Engineering from G.H. Raisoni College of Engineering, Nagpur, India in 2010.
He was awarded a Doctoral Degree in Electronics Engineering from RTM Nagpur
University, Nagpur (India) in 2016. He is currently working as an associate professor and
head of the Biomedical Engineering Department of the Faculty of Engineering and
Technology, Datta Meghe Institute of Higher Education and Research Sawangi (Meghe),
Wardha. He can be contacted at email: [email protected].

Dr. Rahul Mapari received a bachelor’s degree and master’s degree in

Electronics Engineering from Savitribai Phule Pune University, India, in 2004 and 2007
respectively, and a Ph.D. degree in Electronics and Telecommunication Engineering
from Amravati University, India in 2016. He has been working as a Professor in the
Department of Electronics and Telecommunication Engineering of Pimpri Chinchwad
College of Engineering and Research, Pune since 2017. He can be contacted at email:
[email protected].

Dr. Ranjit Dhunde graduated in Mathematics from the Institute of Science

Nagpur and a Ph.D. from RTM, Nagpur University. He is working as an assistant professor
in Mathematics at SVKM's NMIMS School of Technology, Management and Engineering,
Navi Mumbai. He has a total teaching experience of 17 years at UG and PG levels. He has
published 12 research papers in reputed International Journals. He can be contacted at email:
[email protected].

Dr. Hemant R. Bhagat Patil obtained master's degree in Mechanical

Engineering from RTMNU, Nagpur (India). He occupied various positions to serve the
engineering institutes for about 22 years. He is currently working as an associate professor in
the Department of Mechanical, Govindrao Wanjari College of Engineering and Technology,
Nagpur. He attended International and National conferences. He is a member of professional
bodies such as ISTE. He can be contacted at email: [email protected].

Dr. Ramesh Pawase completed his Bachelor of Engineering (B.E.) in

Electronics and Communications Engineering from Amrutvahini College of Engineering,
Sangamner in 2004 and Master of Engineering in Electronic and Telecommunication from
Dr. Babasaheb Ambedkar Technological University, Lonere in 2008. He has completed his
Ph.D. in the area of Analog CMOS circuits for MEMS in 2019 from Savitribai Phule Pune
University (SITRC Nashik). He is working as associate professor in Department of E&TC
Engineering from 2005 in Amrutvahini College of Engineering, Sangamner Maharashtra
(India). He can be contacted at email: [email protected].

DTC analysis of DCMLI driven PMSM-SVM drive (Rakesh Shriwastava)