0-7803-9296-5/05/$20.

00 2005 IEEE
Perfect Speed Tracking of Direct Torque
Controlled-Induction Motor Drive Using Fuzzy Logic
T. S. Radwan
1
, SMIEEE
Riyadh College of Technology,
Riyadh , Saudi Arabia
e-mail: tsradwan@ieee.org
Abstract- In this paper, a simple and perfect speed tracking
of direct torque controlled-induction motor drive using fuzzy
logic is proposed. The fuzzy logic controller solves the problem of
nonlinearities and parameter variations of induction motor.
Unlike the conventional standard fuzzy logic controllers, the
proposed controller has much less computationally demanding.
The direct torque control scheme of induction motor is first
introduced. Then, the specified rules and their membership
functions of the proposed fuzzy system are represented. The
fuzzy rules and the membership functions are tuned to give best
performance. The performance of the proposed controller is
evaluated under various operating conditions. The controller is
shown to be robust, and inherently adaptive in nature. Results
demonstrate the efficacy of the control system.
Keywords- induction motor drives; speed tracking; direct torque
control; fuzzy logic; parameters tuning
I. INTRODUCTION
In recent years, high performance and high efficiency
induction motor (IM) drives are in great demand to serve the
industrial needs for sophisticated products and services, such
as steel mills, paper mills, servos, machines tools, robotics,
elevators, transportation system etc. This is due to its well-
known advantages of simple construction, reliability,
ruggedness, and low cost. Although IM has been widely used
for constant speed operation earlier, it is more and more
accepted in advanced variable speed applications, thanks to
recent remarkable progresses in power electronics,
microprocessor, and modern control technology. With the
advent of vector or field oriented control whereby IM can be
controlled like a separately excited dc motor, the high
performance control of IM drives entered into its new era. In
the vector control, the motor equations are transformed in a
coordinate system that rotates in synchronism with the rotor
flux vector. These new coordinates are called field
coordinates. In field coordinates, under constant rotor flux
amplitude, there is a linear relationship between control
variables and torque. This has a good physical basis because it
corresponds to the decoupled torque production in a separately
excited dc motor [1]. Depart from the idea of coordinate
transformation and the analogy with dc motor control, the
direct torque control (DTC) has been introduced to replace the
decoupling control with the bang-bang control[2],which meets
very well with on-off operation of the inverter semiconductor
power devices. This control strategy has been continuously
developed and improved by many researchers [3-7]. The speed
control loop of DTC should be carefully designed to improve
the dynamics of an IM drive for high performance
applications. Since these dynamics are nonlinear and, for this
reason, can be very difficult to predict in an accurate manner.
Apart from adopting different control strategies to achieve a
wide speed range for the IM drive, different control algorithms
need to be considered to solve the problems of heavy
nonlinearity and parameter variations. Many approaches, such
as proportional-integral (PI) control, fuzzy logic control,
adaptive control, and neural network control, have been
proposed for motion control of the IM [8-14]. The PI control
is simple and offers a wide stability margin. However, it
requires meticulous fine tuning and cannot cope with
parameters variation. The fuzzy logic control can compensate
the system nonlinearities through human expertise. Yet, it
relies too much on the intuition and experience of the
designer. The adaptive control can self-adjust the controller
parameters to adapt system parameter variations.
Unfortunately, it generally requires a reference model of the
system. The neural network control can handle the
complicated nonlinear characteristics of the system, but suffer
from the problem of lengthy training and convergence time.
This paper introduces a simple and perfect speed tracking
of direct torque controlled-induction motor drive using fuzzy
logic. This methodology solves the problem of nonlinearities
and parameter variations of IM drive. Moreover, it achieves
high dynamic performance and accurate speed tracking control
with good steady-state characteristics. Firstly, DTC scheme of
the IM is introduced. Then, the specified rules and their
membership functions of the proposed fuzzy system are
represented. The fuzzy rules and the membership functions are
tuned to give best performance. The proposed controller has
been simulated using MATLAB\SIMULINK, and has been
implemented in real-time using dSPACE ds1102 controller
board [15] . The performance of the proposed controller is
evaluated under various operating conditions. The simulated
and test results confirm the efficacy of the control system.
II. FUZZY SPEED CONTROLLER BASED DTC-IM
Figure 1 shows the block diagram of the proposed control
system. A simple structure fuzzy logic controller (FLC) is
1
Currently on leave from Menoufiya University, Shebin El-Kom, Egypt.
IEEE PEDS 2005
38
used in the speed control loop to regulate the motor speed. The
inputs to the FLC are the speed error, Ae
r
and the rate of
change of the speed error,
r
e A . The output of the FLC is the
torque command,
*
e
T . The flux command,
*
s
u is evaluated
from the flux command estimator. The command stator flux
*
s
u and the command torque
*
e
T values are compared with the
actual estimated s u

and
e
T

values in hysteresis flux and

torque controllers, respectively. The flux controller is a two
level comparator while the torque controller is a three level
comparator. The flux
s
u and torque
e
T hystereses controllers
determine the inverter switching frequency which varies with
synchronous speed and load conditions.
Figure 1. Fuzzy speed controller based DTC-IM
III. IM MODELING AND DTC SCHEME
In the analysis and simulation of the system, the basic
equations of the IM expressed in instantaneous vector are
used. By the transformation of Park model, the equations of
the IM in a general reference frame, denoted by the superscript
g are shown in terms of voltage and flux as follows [16,17]:
Electrical Equations:

g
s
g
s g s
g
s
g
s
dt
d
j r i v u u e + + = (1)

g
r
g
r r g r
g
r
dt
d
j r i u u e e + + = ) ( 0 (2)

g
r m
g
s s
g
s
i L i L + = u (3)

g
s m
g
r r
g
r
i L i L + = u (4)
) (
4
3
g
ds
g
qs
g
qs
g
ds e
i i
P
T u u = (5)
Mechanical Equation:

r m r m L e
B
dt
d
J T T e e + = (6)
The above equations can be referred to a stationary frame,
denoted by the superscript which is with d-axis aligned to
the stator winding of phase a and be rewritten as follows:
Electrical Equations:

o o o
u
s s s s
dt
d
r i v + = (7)

o o o
u u e
r r r r r
dt
d
r i + = 0 (8)

o o o
u
r m s s s
i L i L + = (9)

o o o
u
s m r r r
i L i L + = (10)
) (
4
3
o o o o
u u
ds qs qs ds e
i i
P
T = (11)
By substituting (9) and (10) into (11), yields,
) (
4
3
o o o o
u u u u
o
dr qs qr ds
r m
m
e
L L
L P
T = (12)
where, ) / ( 1
2
r s m
L L L = o
The stator flux can be estimated from (7) and given by:
dt r i v
s s s s
)
= )

o o o
u (13)
where
o
s
v and
o
s
i

indicate the measured stator voltage and

current, respectively.
The estimated developed torque is derived from (11) and
given by:
)

(
4
3

o o o o
u u
ds qs qs ds e
i i
P
T = (14)
The estimated stator flux,
s
u

, is given by:

2 2
)

( )

o o
u u u
qs ds s
+ = (15)
and the estimated position of stator flux is given by:
(
(

=

o
o
u
u
u
ds
qs
e

tan

1
(16)
The inputs to the hysteresis controllers are given by the
following relations:
s s s
u u Au

*
= (17)
e e s
T T T

*
= A (18)
In the PWM voltage source inverter, considering the
combinations of the states of switching functions S
a
, S
b
, S
c
which can take either logic 1 or logic 0, the stator voltage
vector becomes:
) (
3
2
2
c b a dc s
S a aS S V V + + =

(19)
where V
dc
is the dc link voltage of the inverter,
3 / 2t j
e a =
The stator phase voltages are estimated using the following
equations:
(
(
(

(
(
(

=
(
(
(

c
b
a
dc
c
b
a
S
S
S
V
v
v
v
2 1 1
1 2 1
1 1 2
3

(20)
39
(
(
(

=
(

c
b
a
dc
qs
ds
S
S
S
V
v
v
3 3 0
1 1 2
3

(21)
According to Equation (19) and based on the switching states,
the representation of primary voltage vectors are generated as
shown in Fig. 2. Consequently, the switching logic of the
inverter can be evaluated based on Table I.
Figure 2. Representation of space voltage vectors
TABLE I. Switching Table for DTC-IM
o
s
v [sector no.]
1 2 3 4 5 6
e

u
1
u
2
u
3
u
4
u
5
u
6
u
T
e
=+ve 110 010 011 001 101 100
T
e
=zero 111 000 111 000 111 000
s
=+ve
T
e
=-ve 101 100 110 010 011 001
T
e
=+ve 010 011 001 101 100 110
T
e
=zero 000 111 000 111 000 111

s
=-ve
T
e
=-ve 001 101 100 110 010 011
IV. DESIGN OF THE PROPOSED SIMPLE FLC
The FLCs belong to the category of the Artificial
Intelligence based controllers. One advance of the fuzzy logic
over other forms of knowledge-based controller lies in the
interpolative nature of the fuzzy control rules. The overlapping
fuzzy antecedent to the control rules provides transitions
between the control actions of different rules. Because of this
interpolative quality, fuzzy controllers usually require far
fewer rules than other knowledge based controllers. Figure 3
shows the block of the proposed simple fuzzy logic speed
controller. The inputs, which are the state variables,
characterize the key feature of the system and the output
control variable influence the states of the system. The basic
consideration is aimed to give fast speed response with zero
damping oscillation. The motor speed deviation (state error,
Ae
r
(k) ) and its derivative (state error derivative, ) (k
r
e A ) can
be computed directly from real-time measurements and the set
point as:
) k ( ) k ( ) k (
r
*
r r
e e e A = (22)
where
r
(k) and
*
r
(k) are measured speed and set point
respectively.
Then
r
e A can be computed as:
T
T k kT
kT
r r
r
) 1 ( ) (
) (

=
e A e A
e A (23)
where, T is the sampling interval. The output of the FLC
represents the value of the command torque T
e
*
.
The structure of the proposed FLC is shown in Fig. 4. The
design of the rules is based on linguistic verbalization of
knowledge about the motor drive system [14]. Each control
rule consist of an IF situation THEN action pair. The IF
portion of the rule is called the premise or antecedent, while
the THEN part is the consequent. The premise defines a
region of the input space wherein the rule is valid. This region
is characterized by a fuzzy set on the discourse of the input
variable. The consequent defines the desired control action to
be taken for the input space delimited by the premise. The set
of rules used for the proposed FLC are shown in Table II and
the membership functions for the fuzzy set are shown in Fig.
5. The scaling factors of fuzzification
r
w
k and
r
k
e
are chosen
that the normalized values of speed error and the change of
speed error Ae
r
(k) and ) (k
r
e A , respectively remain within
the limit 1. The scaling factor of defuzzification k
T
is so
chosen that one can get the rated torque for rated conditions.
The rules of the proposed FLC are chosen according to Table
II, eight rules satisfy the required performances, especially
during step decreases and speed reversal.
Figure 3. Block diagram of the FLC
Figure 4. Structure of FLC
40
TABLE II. FLC Rules

r
/
r
NH NL ZE PL PH
NE NH NL NC PM PH
ZE NM NL NC PM PH
PS NM PL PL PM PH
(a)
(b)
(c)
Figure 5. FLC membership functions for the fuzzy sets of (a) speed error, Ae
r
, (b) change of speed error
r
e A and (c) torque command T
*
e
V. EXPERIMENTAL SET-UP
To investigate the performance of speed tracking control
system, a laboratory experiment is carried out on an IM drive
system by using dSPACE DS1102 DSP-board based motion
controller. The block diagram of the experimental system is
shown in Fig 6. The shaft of 4-pole IM motor is directly
coupled to an incremental encoder and a dynamometer, which
is used as motor load. The encoder is used to detect the rotor
position and consequently the rotor speed. Four A/D channels
having sampling time of 4sec are used to digitize the phase
current and voltage information from the hall-effect sensors
for the dSPACE controller board. The motor is supplied by a
three-phase IGBT inverter. The control signals are generated
by the control algorithm every 0.3mS. With the help of RTI
[18] software, real time control code can be generated
automatically from the SIMULINK model under MATLAB
environment. The entire control algorithm is implemented
inside the dSPACE system to avoid the necessity of any
additional hardware.
Figure 6. Experimental set-up
VI. RESULTS AND DESCASION
To demonstrate the capability and the applicability of the
proposed FLC-based DTC-IM, various test cases were
performed under different operating conditions. The
simulation phase of this work has been performed in
MATLAB\SIMULINK [19] using motor parameters in the
Appendix to verify the feasibility of speed tracking of direct
torque control of IM drive. In order to assess the speed
tracking capability of the proposed controller, a highly
fluctuating speed command is used for testing the drive
response. Selected results of test performed on the drive
system are recorded. Figure 7 shows the speed response of the
drive system under rated conditions. This figure shows that the
motor starts smoothly and the speed tracks the command with
no-over/under shoots and with nearly zero steady-state error.
Figures 8 and 9 show the speed tracking performance of the
drive system due to step increases and decreases, respectively.
It can be observed, as shown in Figs. 8 and 9 , that the FLC
gives perfect speed tracking with zero steady state error. The
FLC response indicates how well the controller succeeds in
forcing the actual rotor speed to follow the desired reference
trajectory. Another selected result shows that the DTC
algorithm works properly under the FLC. Figure 10 shows the
stator flux locus. Also, the proposed FLC works properly for
speed reversal as shown in Fig. 11. The results have shown
that the FLC is adaptive and robust in responding to a wide
range of operating conditions.
41
Time (sec.)
(a)
(b)
Figure 7. Speed response of the drive system under full load conditions
(a) simulation (b) experimental
Time (sec)
(a)
(b)
Figure 8. Speed tracking characteristics of FLC-based DTC-IM with
increasing the reference (a) simulation (b)experimental
Time (sec.)
(a)
(b)
Figure 9. Speed tracking characteristics of FLC-based DTC-IM with
decreasing the reference (a) simulation (b)experimental
(a)
(b)
Figure 10. Stator flux response , -ais flux versus -axis flux
(a) simulation (b) experimental
S
p
e
e
d

(
r
a
d
/
s
e
c
)
e
r
e
r
-
e
r
-
e
r
0
188
rad/sec
Y-scale 100 rad/sec/div
Y-scale 0.5 web/div
X-scale 0.5 web/div
Y-scale 100 rad/sec/div
42
Time (sec)
(a)
(b)
Figure 11. Speed reversal response of the drive system
(a) simulation (b) experimental
VII. CONCULATION
In this paper a simple approach for perfect speed tacking of
direct torque controlled-induction motor using fuzzy logic has
been presented. A simplified FLC with relatively fewer rules
has been implemented for perfect speed tracking. A detailed
derivation for the simplified FLC has been provided. The
entire drive system has been implemented in real-time using
DSP controller board in a laboratory 1 hp IM. The simplified
FLC reduces the computational burden on the DSP and is
found to be robust for speed tracking application of IM. The
simulated and experimental results have shown good
agreement and prove the efficacy of the control drive system.
APPENDIX: Induction motor parameters
Motor rated power 3-phase, 1 hp
Rated voltage 208 V
Rated current 3.4 A
Rated frequency 60 Hz
No of Pole pairs (P) 2
stator inductance, L
s
0.3676 H
rotor inductance, L
r
0.3676 H
Mutual inductance L
m
0.3489 H
Stator resistance, r
s 4.0 O
Rotor resistance, r
r 1.143 O
Motor inertia, J
m
0.03 kg.m
2
Friction coefficient, B
m
0.00098 N.m/rad./sec.
ACKNOWLEDGMENT
The author gratefully acknowledges Prof. M. A. Rahman
for supporting the experimental phase of this work during the
summer visit of the author to his Lab at Memorial University
of Newfoundland, St. Johns , Canada.
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100
rad/sec
-100
rad/sec
43