PEDS 2007

A New Switching Technique for Direct Torque

Control
of Induction Motor using Four-Switch Three-Phase Inverter
Phan Quoc Dzung*, Le Minh Phuong*, Pham Quang Vinh**,

Nguyen Minh Hoang***, Nguyen Xuan Bac*

*

Faculty of Electrical & Electronic Engineering, HCMC University of Technology, Ho Chi Minh City, Vietnam * * Siemens AG Presentation, Ho Chi Minh City, Vietnam *** NARC, Ulsan University, Korea

Abstract--This paper presents a new switching technique for Direct Torque Control of Induction Motor using FourSwitch Three Phase Inverter (DTC-FSTPI-IM) for low power applications. The modified switching table in this method is based on the principle of similarity between FSTPI and SSTPI (Six-Switch Three Phase Inverter), where the oc4 plan is divided into 6 sectors and the formation of the voltage space vector is done in the same way as for SSTPI by using effective (mean) vectors. This approach allows using the well-knowing established switching table of SSTPI for FSTPI, in order to reduce torque ripples in comparison with the conventional DTC method for FSTPI. The validity of new proposed technique is verified by simulation results using Matlab/Simulink and also experimentally by using DSpace 1104 Card. Index Terms-- Direct Torque Control, Four-Switch Three-Phase Inverter (FSTPI), Optimal Switching Table, Pulse-Width- Modulation, Six-Switch Three-Phase Inverter (SSTPI), Space Vector.
I. INTRODUCTION

However, up till now no attentions are paid to apply these improvements for DTC method for FSTPI-IM, because of the difference between the basic space vectors of FSTPI and SSTPI. The proposed switching technique for DTC-FSTPI-IM in this paper has been done by using the new approach based on the principle of similarity between FSTPI and SSTPI, where the o4x plan is divided into 6 sectors and the formation of the required reference voltage space vector is done in the same way as for SSTPI by using effective (mean) vectors. This approach allows the possibilities in using these well-know established improvements of DTC technique for SSTPI [13] in the DTC-FSTPI-IM system (Fig. 1).
II. VOLTAGE SPACE- VECTOR ANALYSIS FOR FSTPI AND THE PRINCIPLE OF SIMILARITY

Recently, several scientific researches have been done for Four-Switch Three-Phase Inverters (FSTPI) with the target for reducing the cost of electric drives. Several inverter schemes with reduced number of switches have been proposed [1-5]. To obtain the simple, effective performances, the fast control of torque and flux; a DTC system for FSTPI-IM has been proposed [6]. In this paper, the optimal switching look-up table is established with four basic space vectors of FSTPI and in according with four main sectors in the o4x plan. Comparison with DTC of induction motor fed by conventional SSTPI confirm that FSTPI topology can be alternative to the conventional topology for low power low cost induction motor drives. DTC method for SSTPI-IM has been improved in some researches [7-13], while the torque and speed ripples are reduced. The inverter switching frequency can be increased by mixing high-frequency dither signals with the error signals of torque and flux [7]. In order to reduce the speed (torque) ripple, the space vector modulation (SVM) modulator has been used as shown in [8-12].
This work was supported by Vietnamese Ministry of Science and Technology (MOST).

According to the scheme in Fig.2 the switching status is represented by binary variables SI to S4, which are set to "1" when the switch is closed and "0" when open. In addition the switches in one inverter branch are controlled complementary (1 on, 1 off), therefore:
S1+S2= 1

Phase to common point voltage depends on the turning off signal for the switch:

S3+S4

(1)
(2)

VIO = (2S-1) ) 2 ; Vbo = (2S3-1) -; Vco = 0 2

Fig. 1. DTC schema for FSTPI-Induction Motor.

1-4244-0645-5/07/$20.002007 IEEE

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,+dc/2

23
O
b

To simulate six non-zero vectors in SSTPI, beside the two V1 and V3, it can be used the effective vectors V23M, V43M, V14M and V12M. These vectors are formed as follows:
~ ~

~~arnduction I
M2otor

V3M 2 (V2+iV3) =K3 eI; 1 3

52

24

2'(V4}+FV3F) =-Kde V43M 4M2

3

(5)

V14M
V12M

2 (V1+V)

3d ejf;
;

2 (1 +1V23) e 3

Fig. 2. Power circuit of FSTPI.

To simulate zero vectors of SSTPI, we use the effective VoM:

VOM

Combinations of switching S1-S4 result in 4 general space vectors V- - V4 (Fig.3, Table 1), components c4x of the voltage vectors are gained from abc voltages by using Clark's transformation:

The similarity between space vectors of FSTPI (Fig.4) and SSTPI (Fig.5) is presented in Table 2.
III. NOVEL SWITCHING TECHNIQUE FOR DTC

2 2 (V1 + V3 )

(6)

LVa ]

][V]

(3)

Where Va, Vb, Vc: output phase voltages on the load (Y connection), defined by:

The objective of the DTC is to maintain the motor torque and stator flux within a defined band of tolerance by selecting the most convenient voltage space vector from the look-up table (switching table). In the case of the conventional switching table of DTC for FSTPI-IM, one of four active vectors is chosen (Table 3) [6].
V34

VI = (2V0o Vbo) a3 Vb
=

1
-

j 13

(2Vbo V);

(4)

1 VI=--K (v+vJO
Y mr

v Y

lvi

v Z-Ilvil Y

V Y

_,

"v

'V2

Vl 2

Fig. 4. Voltage Space-Vectors for FSTPI on the principle of similarity.

Fig. 3. Voltage space vectors in the plan o3 (*)

TABLE 1 COMBINATIONS OF SWITCHINGS AND VOLTAGE SPACE VECTORS

V3
V4

V2

Si

S3
0

V=V +Vjj3
V
Vdc

+ e

Vt

,,
V5

2V
3
3

26

V.V6
inr SSP

i~~~~~~~~~~~~~ V7 = Vd, eJT

Fi.5.Bs spac vetr

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TABLE 2 SIMILARITY BETWEEN SPACE VECTORS OF FSTPI AND SSTPI Used voltage space vectors Used voltage space vectors for for SSTPI FSTPI Vi V23M V2 V3 V3 V43M V14M V4 Vi V5 V6 V12M VOM VO, V7 TABLE 3 CONVENTIONAL SWITCHING TABLE FOR DTC CONTROL METHOD Sector 1 Sector 2 AT Sector 3 Sector 4 A N' 2400. 3300 -300 600 600 1500 1500 2400 1 1 V2 V4 Vi V3 Vi 1 V2 V4 -1 V3 O V4 Vi V2 1 V3 o V4 Vl V2 V3 -1

PROPOS ED SWITCHI N G TAB LE F OR DT C CONT RO L M ETHO D

AiV
AT

TABLE 4

I -300

1 1

1 1 0 1
1

V13M
V13M
V1

V3 V12M

300

V43M

V13M

300 g9oo V43M V23M

go0

SECTOR

V14M V12M

V13M
V1

V14M V3
V23M

1500

2100 V1 V43M V12M

1500

IV

V13M
V3 V13M

2700 V12M V14M

2100

3300 V23M

VI 2700
V1

V13M

V13M

V13M

V23M V43M V13M

V13M
V13M
V3 V14M

Table. 4. Proposed switching table for DTC method

In order to reduce the torque and speed ripples by using the principle of similarity for voltage space vectors, optimum switching table in the proposed method is established similarly for the SSTPI switching table. The c4x plan is divided in to six sectors, and for each sector, the optimal space vector is chosen accordingly to the required torque and flux by using the effective vectors (equations 5, 6). These vectors are synthesized using the basic space vectors with the duty cycle of 50%0 (switching period is Ts). The same way is done for effective zero space vector (Table 4). The flux and torque calculations remain the same. The stator flux is estimated as follows:
sa = wsao + (va -sa Rs) T VI# = Ws0 + - i,, Rs ) T,

The simulated DTC system driven by FSTPI uses a switching table (Table 4). The torque controller has 3 levels: -1, 0, 1; the flux controller has 2 levels: -1, 1. The parameters used in simulation are given below: - Vdc = 300V - Torque hysteresis band= 10% - Flux hysteresis band= 1% - Reference flux Vs* = 0.3 Wb. - Reference torque: T* = 5 Nm when O s < t < 0.1 s; T* = 8 Nm when 0.1 s < t < 0.2s; T* = 5 Nm when 0.2 s < t < 0.3 s; T* = -10 Nm when 0.3 s < t<0.4s;T* =5Nmwhen0.4s<t<0.5s. - Sample time: Ts = 5e-5 - Load torque TL = 5Nm at t = O. ls. Time of simulation t = 0.5s. Furthermore, the comparison between the conventional DTC method [6] and the proposed one has been done.
0.35 0.3 0.25_

The estimated flux P and flux angle sector are defined as follows: (8) 'P +2s;S = arctn V ) arctanrV/ = JVs2 +Vw,

(v,,

(7)

l_

T
-

-_I_ 1-- k-

T
-

F
-1--F
I-

x0.25

-4

4V,

C/)

0.1

The torque is estimated by the following formula:

T
=

3P

(.sais Vsfisa)
-

(9)

0.051 OL_ 0

0.05

0.1

0.15

0.2

Time, [s]

0.25

0.3

0.35

0.4

0.45

C.a

Where: vS, is
p T

Rs

Vs

Ts

number of pole pair electromagnetic torque stator flux vector sampling time
FSTPI-IM

stator voltage and current vectors stator resistance

a) Conventional method

IV. SIMULATION OF THE PROPOSED DTC METHOD FOR

A Simulink/Matlab is used to validate the proposed DTC method for FSTPI-IM. The induction motor model for the simulation studies has the follows parameters: Type: Three-phase, squirrel-cage induction motor. 220V, lUP, 1680r/min, R, = 3.2 (Q), Rr = 2.336 (Q), L, = 0.2965 (H), Lr = 0.2965 (H), Lm = 0.2931 (H), P = 2, Jm = 0.0034 (kgm2).

a9

0.151

b) Proposed method Fig. 6. Stator Flux responses.

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10U

ul:B

64

02

IOl
-10 _
0 0.05 0.1 0. 1 5 0.2

01

Time, [s]

0.25

0.3

0.35

0.4

0.45

0.5

-603 1
64A

620

a) Conventional method

a) Conventional method

OgaI
o
0

M.50
-

-I-

I-

.- -I-

--

11 6~~~~~~~~~~~~~
61
0 0.05 0.1 0.15 0.2

Time, [s]

0.25

0.3

0.35

0.4

0.45

0.'

624
63I
6

b) Proposed method
Fig. 7. Torque responses.

65

b) Proposed method
Fig. 9. Trajectories of flux space vector.

150 r

100~

.d 2
-d
a)

A
0

Er

-50

Simulation results demonstrate the performance of the proposed DTC for FSTPI-IM, while the good responses of the flux, torque, and speed are obtained (fig.6 - 9) with reduced torque ripples (fig. 7).
V. EXPERIMENTAL RESULTS
0.05 0.1 0. 15 0.2

-1 oo,-

-150

Time, [s]

0.25

0.3

0.35

0.4

0.45

0.5

a) Conventional method
150

I0

-I

/1 05

01

1.

0.5

03

03

04

04

~ ~~Ime ~~ 1s] ~~

bo ImIIthIod\I Prpoe

Fig

__ I___\ 8. Roo speeds._

__

The experimental setup is carried out by a DSpace 1104 system with I/0 card for real time control (Sample time: T, = 5e-5). An interface board was build to receive the gate-drive signal, isolated them and connected to the four switches which were implemented using integrated IGBT 60A. The output from FSTPI was connected to a three phase induction motor (Fig.10). The induction motor has the follows parameters: Three-phase, squirrel-cage induction motor 380V, Y connected, 1/2 HP, 1420r/min., R, = 5.4972 (Q), R,= 7.466 (Q), L,= 1.3040 (H), Lr= 1.3040 (H), Lm= 1.2278 (H), P = 2, Jm = 0.0008 (kgm2). The DC link voltage was adjusted at IOOV, and the split capacitors are rated at 6800gF. The Hall-effect current sensors (isa,b,c) and voltage sensors (VDC1,2), which have been used to receive feedback signals, are LEM LA55-P and LV25-P respectively. The DTC system driven by FSTPI uses a proposed switching table (Table 4). The control algorithm is executed by Matlab/Simulink program (Fig. 11) and it

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provides the duty cycles dAo01 and dBon for generating control signals. The parameters of the torque controller, the flux controller, torque hysteresis band, flux hysteresis band are the same as the simulated DTC system. Reference flux: Vs* = 0.2 Wb. Reference torque: T* = 5 Nm in starting time; T* = 2.5 Nm in steady- state. Load torque: TL= 2.5Nm. The experimental responses including steady-state stator line voltages, stator currents, and transient response of stator flux are shown in Fig. 12-14 correspondingly.

Fig. 13. Stator current waveforms for FSTPI.

Fig. 14. Reference and estimated stator flux.

Fig. 10. Interface between Matlab/Simulink and Dspace 1104 Card for FSTPI-IM.

VI. CONCLUSION

Fig. 11. DTC Control Algorithm using Matlab Simulink with DSpace Card DS1 104.

A new switching technique for Direct Torque Control of Induction Motor using Four-Switch Three Phase Inverter (DTC-FSTPI-IM) for low power applications has been presented. The modified switching table in this method is based on the principle of similarity between FSTPI and SSTPI (Six-Switch Three Phase Inverter), where the c4x plan is divided into 6 sectors and the formation of the voltage space vector is done in the same way as for SSTPI by using effective (mean) vectors. This approach allows using the well-knowing established switching table of SSTPI for FSTPI, in order to reduce torque ripples in comparison with the conventional DTC method for FSTPI. The validity of new proposed technique is verified by simulation and experimental results using Matlab/Simulink and DSpace 1104. Simulation and experimental results demonstrate the good performance of the proposed DTC for FSTPI-IM, while the good responses of the flux, torque, and speed are obtained.
REFERENCES [1] Frede Blaabjerg,, Sigurdur Freysson, Hans-Henrik Hansen, and S. Hansen "A New Optimized Space-Vector Modulation Strategy for a Component-Minimized Voltage Source Inverter " IEEE Trans. on Power Electronics, Vol. 12, No. 4, July 1997,pp 704-7 10 [2] F. Blaabjerg, S. Freysson, H. H. Hansen, and S. Hariseri. "Comparison of a space-vector modulation strategy for a three phase standard and a component minimized voltage source inverter". In Conf Rec. EPE, pages 1806-1813, Sevilha - Spain, September 1995. [3] M. B. R. Correa, C. B. Jacobina, E. R. C. Da Silva, and A. M. N. Lima. "A General PWM Strategy for Four-Switch Three-Phase Inverters" IEEE Trans. on Power Electronics, Vol. 21, No. 6, Nov. 2006, pp 1618-1627.

TDS2012-9:19434AM 8130/2007
Fig. 12. Stator line voltage w~aveforms V/ac, Vbc (K 10) for FSTPI (From Oscilloscope Tektronix TDS 2012).

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[4] G. A. Covic, G. L. Peters, and J. T. Boys, "An improved

[5] [6]
[7]

[8]

[9]

[10]

[11]

[12]

[13]

single phase to three phase converter for low cost ac motor drives," in Proc. PEDS '95, Singapore, vol. 1, pp. 549554. G.-T. Kim and T. Lipo, "VSI-PWM rectifier/inyerter system with a reduced switch count," in Conf Rec. IAS, 1995, pp. 2327 - 2332. Mohamed Azab and A.L. Orille, "Novel Flux and Torque Control of IM Drive using FSTPI", in IECON'01, 2001,pages 1268 -1273. T. Noguchi, M. Yamamoto, S. Kondo, and I. Takashi, "High frequency switching operation of PWM inverter for direct torque control of induction motor," in Conf Rec. IEEE-IAS Annu. Meeting, 1997, pp. 775-780. Y. S. Lai, T. Y. Shihn, Y. S. Kuan, and H. C. Huang, "A novel inverter control technique for direct torque control drives" (in Chinese), J Power Electron. Technol., vol. 39, pp. 71-77, 1997. C. Lascu, I. Boldea, and F. Blaabjerg, "A modified direct torque control (DTC) for induction motor sensorless drive," in Conf. Rec. EEE-IAS Annu. Meeting, 1998, pp. 1887-1894. Y. S. Lai and J. H. Chen, "A new approach to direct torque control of induction motor drives for constant inverter switching frequency and torque ripple reduction," IEEE Trans. Energy Conversion, vol. 16, pp. 220-227, Sept. 2001. T. G. Habetler, F. Profumo, M. Pastorelli, and L. M. Tolbert, "Direct torque control of induction machines using space vector modulation," IEEE Trans. Ind Applicat., vol. 28, pp. 1045-1053, Sept./Oct. 1992. G. Buja, D. Casadei, and G. Serra, "Direct stator flux and torque control of an induction motor: Theoretical analysis and experimental results," in Proc. IEEE IECON'98, vol. 1, 1998, pp. T50-T64. Yen-Shin Lai, Wen-Ke Wang, and Yen-Chang Chen. "Novel switching techniques for reducing the speed ripple of AC Drives with DTC" IEEE Trans. on Ind Electronics, Vol. 51, No. 4, 2004, pp 768-775.

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