An Efficient Direct Torque Control Based on Fuzzy Logic

Technique
Jibo Zhao
1
and Hong Wang
2

1
Electrical Engineering and Computer Science Department, University of Toledo , Toledo, OH, USA
2
Engineering Technique Department, University of Toledo, Toledo, OH, USA

Abstract - Conventional Direct Torque Control (CDTC)
system of Induction Motor (IM) faces the problem of high
torque ripples, and has difficulty in improving the
performance of dynamic torque response and controlling flux
locus at very low speed. In this paper, a DTC control system
for induction motor based on Fuzzy Logic technology
(FLDTC) is proposed. The proposed system aims to make less
torque ripples, faster dynamic response, and higher
performance of flux control at very low speed by introducing
some new fuzzy variables and rescheduling the fuzzy switcher
rules. The model of the proposed system is built on
simulink/matlab. Simulation results show that the proposed
technique FLDTC is more efficient than CDTC.
Keywords-Direct torque control, induction motor, fuzzy logic,
and fuzzy switcher rules.

1 Introduction
Conventional direct torque control is a simple and
efficient control technique to provide quick torque and flux
control. The major advantages of direct torque control
technique are its simple structure and robust control scheme
without the complex mathematical transforms. However,
CDTC also has some drawbacks like high electromagnetic
torque ripple, high stator current distortion, relatively slow
transient response to torque step changes of load and flux
locus attenuation at very low speed [1-3].
To improve the performance of dynamic response of
CDTC, some studies have been carried out in the past [4] [5]
to increase the response speed of torque step change. One
research has developed a methodology of optimizing the
selection of the voltage vectors to give a maximum rate of
torque increase or decrease to meet the torque step change [6],
and dramatically improved the CDTC responding speed, but
the expense is the low performance of flux locus.
By introducing CDTC technique to induction motor, the
controller uses voltage vectors to control the flux or torque
according to three elements: hysteresis of flux error, torque
error and flux location. However, sometimes the flux locus or
the torque only needs the voltage vectors to last for a very
short time during a switching period in steady-state, or
perhaps it needs the control signal to last for several switching
period in dynamic-state. The hysteresis of CDTC system can
only judge the situation by positive and negative error values,
but it does not have the ability to adjust the flux and torque
according to exact error values. For the purpose of handling
this problem, a method to reduce torque ripple in DTC of
induction motor by using fuzzy mode duty cycle [7] is applied
to control the duty cycle of the switches according to the exact
value of the torque and flux errors and has successfully
decreased the torque ripples. On the other hand, lots of
attempts based on fuzzy logic technique are shown to be
efficient in many researches. For instance, in the fuzzy logic
control method proposed in [8] and [9], the fuzzy logic
controller can recognize how big the error is and makes an
optimal adjustment; Moreover, a stator resistance estimator
using fuzzy logic at low speed applied in [10], can help to
improve the performance of torque ripple by making the
mathematical model of CDTC more accurate. Some other
researches [11-13] also provide several useful applications of
fuzzy logic in DTC. All these methods have proven that fuzzy
logic technique can make great contributions to DTC.
This paper aimed to take advantage of fuzzy logic
technique to solve the problems mentioned above. A group of
new FL switcher rules will be introduced. This FL controller
can detect the steady and dynamic states of induction motor
automatically, and control the flux and torque with optimal
vectors according to fuzzy switcher rules. The FL controller
has also solved the problem of flux attenuation at very low
speed. Both the steady and dynamic performance of torque
error and torque response to step changes can be improved by
the proposed methodology. The simulation results of CDTC
and FLDTC will be studied and compared.
2 Proposed technology with fuzzy logic
To improve the performance of CDTC, we apply a
Mamdani-type fuzzy logic system based on DTC principles.
The torque hysteresis in CDTC is substituted by this FL-
controller. Different from commonly used controller, the
proposed FL-controller has six input variables: Torque error
(Te), flux error (Fe), flux position (SE), angle difference (A),
rotor speed (SP) and working state (WS).
The membership function of flux error (Fe) has four
fuzzy sets: negative (N), zero (Z), positive (P) and positive
large (PL). The fuzzy variable torque error (Te) is
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represented by five fuzzy sets: negative large (NL), negative
(N), zero (Z), positive (P) and positive large (PL). The fuzzy
membership function of sector (SE) which stands for the
location of flux is represented by six fuzzy sets: sector (1-6)
S1, S2, S3, S4, S5 and S6 as shown in Fig. 1. The
membership functions of the three fuzzy variables are shown
in Fig. 2 (a-c). The other three fuzzy variables will be
introduced separately in the following paragraphs.
S2
S1
S3
S6
S4
S5

Figure 1. Spatial distribution of six sectors


Flux error
(a). Fuzzy membership functions for Fe.


Torque error (N.m.)
(b). Fuzzy membership functions for Te.


Sectors
(c). Fuzzy membership functions for SE.

Figure 2. Fuzzy membership functions for Fe, Te and SE.
The electromagnetic torque of IM can be expressed as
follows,

3
sin
2
n
e s r
P
T
L
o
o = (1)
where
2
( ) /
s r
L L L M M
o
= (2)
s
and
r
are the stator and rotor flux vectors,
s
L is the
stator inductance,
r
L is the rotor inductance, M is the
magnetizing inductance, is the angle between the stator and
rotor fluxes and
n
P is the number of the pole pairs.
When 90 o

= ,
3
2
n
e s r
P
T
L
o
= (3)
If the system is ideal no-load, then the average torque is zero.
If assuming =
s r
, then we can get the maximum value of
dynamic torque:

2
max
3
2
n
e s
P
T
L
o
= (4)
Thus, the electromagnetic torque can be written as

max
sin
e e
T T o = (5)
Because of the assumption that the IM is ideal no-load, the
average torque is zero. The torque ripple can be written as:

max
sin
e e
T T o A = (6)
Assuming the rotating speed of rotator flux is a short-term
constant value, then,
( )
s r
t o e e = (7)
In condition that is very small,

max
( )
e e s r
T T t e e A = (8)
The rotating speed of
s
e when the reference torque is ideal
no-load can be expressed as:

2
a
a
T
t
e = (9)
a
T is the time period for the stator flux. Merge (8) and (9), we
can get the increasing time of torque:

max
(1 )
e a
i
r
e
a
T T
t
T
e
e
A
=

(10)
Similarly, we can get the torque decreasing time:

max
e a
d
r
e
a
T T
t
T
e
e
A
= (11)
Formula (11) can be written as:

max
2
e
d
e r
T
t
T
t
e
A
=
(12)

From (12) we can get the conclusion that the time
required to decrease the torque gets longer when the rotating
speed is very low. It is clear that the torque decreases slower
at low speed than that at high speed if the controller still uses
zero voltage vectors. Thus, replacing zero voltage vectors
with reversed voltage vectors may increase the response speed
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because reversed voltage vectors can produce bigger negative
torque change. Moreover, if we only use zero vectors to
reduce the negative torque error without the usage of reversed
vectors at very low speed, the flux locus would attenuate and
even result in failure start. On the other hand, if using
reversed vectors too often at very low speed may result in
bigger toque ripple in steady state than zero vectors. To
balance the problem, another fuzzy variable SP is used in
the FL controller. The membership function of SP as
indicated in Fig. 3 is divided into low speed mode (L) and
high speed mode (H). When working at low speed (the speed
less than 30% of rated speed is defined as low speed), the FL
controller will test the flux error. If the flux error is N, Z or P,
and the torque error is in the range of P, Z and N, the
controller will work exactly in the same way as it does in high
speed mode. However, if the flux error is PL, which means
the flux locus is attenuating, the controller will enable the
reversed voltage vectors to justify the flux locus. The
switching rules at high speed and very low speed are shown in
table 1 and table 2. The fuzzy variable A in the two tables
will be introduced later. This method can take advantages of
both zero vector and reversed vector.

Rotating speed (as a fraction of rated speed)

Figure 3. Memberships function for SP.
TABLE I. FUZZY CONTROL RULES OF FLDTC IN HIGH SPEED (K IS THE
NUMBER OF SECTOR)
Te Fe A V
NL/N/Z N/Z/P/PL L/S V0/V7
P N L/S V(k+2)
Z/P/PL L/S V(k+1)
PL N/Z/P/P L V(k+1)
S V(k+2)

In order to detect the working state, another variable
WS is added to the FL controller. The variable WS
carries the information of whether or not there is a toque step
change in the load. The system can decide which working
mode of the FL controller should be taken based on this
information. The system automatically tests the change of the
torque in the load and compares it with the output toque. Once
the difference between them reaches the predefined threshold,
the state of the system will change into dynamic working state.
In this working state, the fuzzy rules will allow the controller
temporarily neglects the regulation of flux locus. Because the
dynamic state lasts only for a very short time, the transient
change will not influence flux locus significantly, and the
locus will recover as soon as the system turn back to steady
state. The variable WS is composed of three fuzzy sets:
dynamic work state whose step change is negative (DN),
dynamic work state whose step change is positive (DP) and
steady work state (S). The membership function is shown in
Fig. 4.
TABLE II. FUZZY CONTROL RULES OF FLDTC IN LOW SPEED (K IS THE
NUMBER OF SECTOR)
Te Fe A V

NL
N/Z L V(k-2)
S V(k-1)
PL L/S V(k-1)

N
N/Z L/S V0/V7
P L/S V(k)
PL L/S V(k-1)
Z N/Z/P L/S V0/V7
PL L/S V(k+1)
P N L/S V(k+2)
Z/P/PL L/S V(k+1)

PL
N/Z L/S V(k+2)
P/PL L V(k+1)
S V(k+2)


Working state (as a fraction of rated torque)

Figure 4. Memberships function for WS.

We can directly get the conclusion from [6] that the
optimal voltage vectors giving the fastest response can be
simplified as a problem of maximization:
max{sin( )}
k ro
k
fn u u = (13)
where k is the order of voltage vector,
k
u and
ro
u are the stator
voltage vector angle and initial rotor flux angle, respectively.
From (13) we know that the voltage vector which creates
the largest sine value with rotor flux has the ability to produce
the largest torque change. In order to take advantage of the
conclusion, another fuzzy variable A is added to the fuzzy
controller. The rotor flux can be approximately equivalent to
stator flux because the slip angular velocity is actually very
small. When torque needs to be increased, the fuzzy variable
A is the angle between rotor flux and voltage vector V (k+1).
When torque needs to be decreased, variable A becomes the
angle between rotor flux and voltage vectors V (k-2).
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For instance, as shown in figure 5, when the flux is at
point P1, the angle between the vector V (k+1) and flux is /2,
which means that V (k+1) can create the biggest torque
change according to (13), so A is L at this moment and V
(k+1) is chosen to produce the biggest torque increase. As
soon as the flux moves to point P2, the angle variable A
decreases to /3, which means that V (k+1) will not produce
the fastest torque response in the following time and variable
A becomes S at this moment. Hence V (k+2) will be taken
instead of V (k+1). The way to produce the fastest torque
decrease is similar. This conclusion also explains the reason
to use the fuzzy variable A in table 1 and table 2.
V(k+2)
S(k)
V(k+1)
S(k-1)
S(k+1)
V(k)
S(k-2)
S(k+2)
S(k+3)
V(k+3)
V(k-1)
V(k-2)
P1
P2
A=/3
Directionof
rotation

Figure 5. Rotor flux vectors and six voltage vectors.

Whether A is Large (L) or Small (S) is defined in the
following way. When the torque needs to be increased quickly,
if the difference between the angles of rotor flux and the
voltage vector V (k+1) is in the range of (/3, /2), then A is
large (L), otherwise A is small (S). Conversely, when the
torque needs to be decreased quickly, if the difference
between the angles of rotor flux and voltage vector V (k-2) is
in the range of (/2, 2/3), then A is large (L), otherwise A is
small (S).The results will be transferred to the FL controller
which can analyze the composite conditions and give an
optimal voltage vector selection according to the expert
knowledge. The membership function of A shown in figure 6
is represented by two fuzzy sets: large (L) and small (S).

Flux angle (Degree)

Figure 6. Membership function of A.

From the fuzzy variables and fuzzy rules introduced
above, we can get the flow chart of the FL controller in Fig. 7.
To sum up, the fuzzy switching rules can be summarized
to table 3. Each rule in table 3 can be written as: Ri: if WS is
Ai, SP is Bi, Te is Ci, Fe is Di, SE is Ei and A is Fi, then V is
Vi, where Ri is the ith fuzzy rule. Ai, Bi, Ci, Di, Ei and Fi are
the values of fuzzy sets of the fuzzy variables WS, SP, Te, Fe,
SE and A.
Negative,
positive, or
none?
Flux angle
is large?
Flux angle
is large?
Positive
Speed is
very low?
Negative
None
V=V(k+1) V=V(k-2) V=V(k+2) V=V(k-1)
Get torque
step change
Get flux
angle
Get
rotating
speed
Using Fuzzy
logic rules
for low speed
Using Fuzzy
logic rules
for normal
speed
Yes No
Yes Yes No No
Figure 7. Flow chart of the FL controller

TABLE III. FUZZY CONTROL RULES OF FLDTC (K IS THE NUMBER OF
SECTOR)
WS SP Te Fe A V









S





L

NL
N/Z L V (k-2)
S V (k-1)
PL L/S V (k-1)

N
N/Z L/S V0/V7
P L/S V(k)
PL L/S V (k-1)
Z N/Z/P L/S V0/V7
PL L/S V (k+1)
P N L/S V (k+2)
Z/P/PL L/S V (k+1)

PL
N/Z L/S V (k+2)
P/PL L V (k+1)
S V (k+2)


H
NL/N/Z N/Z/P/PL L/S V0/V7
P N L/S V (k+2)
Z/P/PL L/S V (k+1)
PL N/Z/P/P L V (k+1)
S V (k+2)
DP L/H N/P/Z

N/Z/P/PL L V (k+1)
S V (k+2)
DN L/H N/P/Z N/Z/P/PL L V (k-2)
S V (k-1)

3 Simulation results
To verify the efficiency of the proposed system, the
model is tested on matlab tool. The induction motors
parameters are given as follows:
E
l
e
c
t
r
o
m
a
g
n
e
t
i
c

T
o
r
q
u
e

(
N
.
m
.
)


E
l
e
c
t
r
o
m
a
g
n
e
t
i
c

T
o
r
q
u
e

(
N
.
m
.
)


E
l
e
c
t
r
o
m
a
g
n
e
t
i
c

T
o
r
q
u
e

(
N
.
m
.
)


E
l
e
c
t
r
o
m
a
g
n
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t
i
c

T
o
r
q
u
e

(
N
.
m
.
)


Rated Voltage: 380 V
Pole pairs: 2
Stator Resistance 1.111
Rotor Resistance 1.083
Stator Inductance: 0.5974 H
Rotor Inductance: 0.5974 H
Mutual Inductance: 0.2037 H
Moment of inertia J: 0.02 kg.m^2
Friction factor: 0.0057 N.m.s
Sampling period of the system: 50 s


Time (s)
(a). Electromagnetic torque for CDTC


Time (s)
(b). Electromagnetic torque for FLDTC

Figure 8. Electromagnetic torque

Fig. 8 (a) and (b) show the performances of the torque
ripples of the motor at 300 rad/sec and no load for CDTC and
FLDTC, respectively. It is clearly shown that the toque ripple
in Fig. 8(b) is approximately 40% smaller than that in Fig. 8
(a). Hence we can conclude that FLDTC produce less torque
ripple than CDTC in steady state.
Keeping the speeds unchanged, and adding a step torque
change as big as 12N.m. at 0.08sec in the load, we can get
the curves of torque response illustrated in Fig. 9. The torque
response of FLDTC is significantly faster than that of CDTC.


Time (s)
(a). Response of the step torque change for CDTC


Time (s)
(b). Response of the step torque change for FLDTC

Figure 9. Electromagnetic torque responses with a step change of 12N.m
at 0.08 sec for CDTC and FLDTC

The flux locus of FLDTC in both steady state and
dynamic state with a torque step change of 12N.m at 0.08 sec
are given by Fig. 10. From Fig. 10(a), we can see that the flux
locus is not significantly different from the flux locus of
CDTC in steady state. Nevertheless, the flux locus shown in
Fig. 10(b) has a transient change when a step change is
applied in the load. That is because the FL controller
temporarily ignores the flux locus when working in dynamic
state. In this state, the controller only imposes the voltage
vectors producing the biggest torque change rate. Hence the
flux locus moves toward the same direction as the voltages
vector. This is why the flux locus rotates along a hexagon
track at that moment, and then recovers as soon as the torque
reaches the reference value.
Fig. 11 shows the flux locus of FLDTC at 20rad/sec and
no load. We know that CDTC has the disadvantages such as
flux locus distortion in very low speed. Simulation result
proves that the flux locus can be improved by using the
proposed controller. The success can be attributed to the
rational selection between reversed voltage vectors and zero
voltage vectors.

(a). Flux locus of FLDTC in steady state


(b). Flux locus of FLDTC in dynamic state

Figure 10. Flux locus of FLDTC



Figure 11. Flux locus of FLDTC at 20 rad/sec

4 Conclusion
A fuzzy logic based direct torque control system is
implemented in this paper to improve the performance of
conventional DTC system. The FL controller enables the
system to choose optimal stator voltage vectors producing the
most suitable rate of torque change according to the six fuzzy
variables. Simulation results have shown the effectiveness of
the proposed method. Through the comparison between
CDTC and FLDTC, we have shown that the FLDTC design in
this paper keeps all the advantages of CDTC, and makes some
improvement in reducing torque ripples, faster torque
response, and stability at very low speed.
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