= +
(6)
( ) [ ( ) - ( )]
( -1)
s s
k v k r i k T
k
| | |
|
= +
(7)
where T
s
is the sampling period and k represents the actual discrete time. The o | components of the
command stator flux can be written as:
* *
( ) ( ) cos( ( )
( ) ( ))
s s
s s
k k k
k T k
o
u
e o
= +
+ A
(8)
* *
( ) ( )sin( ( )
( ) ( ))
s s
s s
k k k
k T k
|
u
e o
= +
+ A
(9)
where ( )
s
k e is the present speed of stator flux and ( ) k o A is the change of torque angle; ( )
s
k u is the
position of the present stator flux linkage vector as shown in Figure. 6, which can be estimated by the present
o | component of stator flux vector:
1
( )
( ) tan
( )
s
k
k
k
|
o
| |
=
|
\ .
(10)
Intl. Res. J. Appl. Basic. Sci. Vol., 6 (10), 1380-1390, 2013
1384
Figure5. The steady state operation of stator flux control
The flux error between the command stator flux vector and actual stator flux vector can be obtained by:
*
( ) ( ) ( ) k k k
o o o
A =
*
( ) ( ) ( ) k k k
| | |
A =
(11)
( ) ( ) ( )
s
k k j k
o |
A = A + A
In stator flux control, we strive to achieve zero error for the stator flux vector in one sampling time. This
condition gives us the requirements for the on-time and choice of the switching state vectors of a voltage
source inverter as shown in Figure. 6.
( )
s a a b b
k v t v t A = + (12)
where v
a
and v
b
are the voltage vectors produced by adjacent active switching states of a three phase
voltage source inverter and t
a
and t
b
are the switching on time of two adjacent active voltage vectors.
In each region two adjacent voltage vectors, which give the minimum switching frequency, are selected
to increase or decrease the amplitude of stator flux linkage, respectively.
For example, according to Table (1), if V
2
voltage vector is applied in sector 1, amplitude of stator flux
linkage will increase when flux vector rotates counterclockwise. Amplitude of stator flux linkage will reduce if v
3
is selected (Xavier et al.,2005; Foo et al.,2009).
Selection of Voltage Vector in DTC of PMSM Drive
As discussed earlier, stator flux is controlled by proper selection of voltage vectors, and as a result,
torque is controlled by rotation of stator flux. According to Figure. 6, when stator flux vector is in sector i, the
voltage vectors, V
i+2
and V
i-2
have negative direct components and reduce the amplitude of stator flux. Also, V
i+1
and V
i+2
have positive indirect components and increase the torque response whereas V
i-1
and V
i-2
have
negative indirect components and reduce the torque response. In other words, applying V
i+1
enhances both
torque and flux whereas applying V
i+2
increases torque but reduces flux amplitude. Switching table is included
in Table (1) for controlling amplitude and rotation direction of stator flux linkage.
Table 1 . Switching table
T
(6) (5) (4) (3) (2) (1)
(100)V1 (101)V6 (001)V5 (011)V4 (010)V3 (110)V2 T=1
=1
(001)V5 (011)V4 (010)V3 (110)V2 (001)V1 (101)V6 T=0
(110)V2 (100)V1 (101)V6 (001)V5 (011)V4 (010)V3 T=1
=0
(011)V4 (010)V3 (110)V2 (100)V1 (101)V6 (001)V5 T=0
Outputs of torque hysteresis comparator, flux hysteresis comparator, and flux linkage sector are
respectively represented by t, , and u. The torque hysteresis comparer is a two-value comparer; t = 0 means
the actual torque value is larger than the reference value and lies outside of the hysteresis amplitude, and, t =
1 signifies that the actual torque value is smaller than the reference value and lies outside of the hysteresis
amplitude. Flux hysteresis comparator is a two-value comparator as well. Similarly, =1 signifies the actual
value of flux linkage is below the square value and lies outside of the hysteresis amplitude whereas =0
indicates that the actual value of flux linkage is greater than the reference value and lies outside of the
hysteresis boundary.
In Table (1), if =1, then the actual flux linkage value will be smaller than the reference value. On the
other hand, if =0, then the actual flux linkage value will be greater than the reference value; and this is true for
the torque as well (Chun et al.,2003; Rahman et al.,1999).
Intl. Res. J. Appl. Basic. Sci. Vol., 6 (10), 1380-1390, 2013
1385
Figure6. selection of voltage vector when stator flux vector is in sector i
Modeling and Simulation
The following assumptions are applied in the model of PMS motor which was developed in rotor
reference system:
Saturation is ignored
EMF is sinusoidal stimulation.
Eddy currents and hysteresis losses are neglected
Field current dynamics are absent
Voltage equations are:
(13)
d
d s d r q
q
q s q r d
d
v r i
dt
d
v r i
dt
e
= +
= + +
And, flux linkage can be written as:
(14)
Substituting Equation (14) into (13), there will be:
(15)
( )
( ) ( )
d s d r q q d d f
q s q r d d f q q
d
v r i L i L i
dt
d
v r i L i L i
dt
e
e
= + +
= + + +
Developed motor torque will be derived as:
(16)
3
( )( )
2 2
e d q q d
p
T i i =
And mechanical torque:
(17)
m
e l m
d
T T B J
dt
e
e = + +
If mechanical speed of rotor is obtained through Equation (7), then:
(18)
)
(
2
( )
e l m
m
m r
T T B
dt
J
p
e
e
e e
=
=
}
In the former equation,
r
is electrical speed of the right rotor and
m
is the mechanical speed of the
rotor (Zhong et al.,1997).
PMS motor parameters are presented in Table (2):
d d d f
q q q
L i
L i
= +
=
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1386
Table 2. PMS motor parameters used in simulation
0.57 O
Resistance R (ohm)
0.0085H Inductance [Ld] H
0.0085H Inductance [Lq] H
0.175 Flux inductance by
magnets [wb]
0.089 Inertia[jkgm^2]
0.005 Friction factor
2 Pairs of pole
According to Figure. (7), the whole model can be divided as follows:
Model of PMS motor, two-level inverter, voltage vector selection table, torque estimator, and flux estimator.
The estimated flux and torque values are compared with the reference values. Then, errors are compared in
hysteresis comparators and comparator outputs together with flux sector (u) are used in switching table for
determining appropriate voltage vector. In the next step, the vector selected from switching table is applied to
voltage source inverter.
Figure7. Simulation of direct torque control in permanent-magnet synchronous motor
Results of the abovementioned control method for PMS motor are obtained as below:
Figure8. Actual and reference stator flux of PMS motor
Intl. Res. J. Appl. Basic. Sci. Vol., 6 (10), 1380-1390, 2013
1387
Figure 9. Rotor speed of PMS motor
Figure 10. Reference and actual electromagnetic torque of PMS motor
Figure 11. Variations of stator flux linkage angle in DTC of PMS motor
As observed in the former Figureures, electromagnetic torque and stator flux change with variation in
the reference and closely follow the reference value with a small error, and in this state, exhibits slight ripple.
Furthermore, it is inferred from the above simulation that DTC is applied for an effective control of flux and
torque without any variation in motor and load parameters. Flux and torque can be also directly controlled by
voltage vector of inverter in DTC. Two independent flux and torque hysteresis controllers are used for
compensating the flux and torque restrictions.
Comparison of DTC Method in PMS Motor and Induction Motor
Simulation of direct torque control in induction motor and PMS motor are similar to each other. The 3
horsepower was selected as electrical power for both motors and, reference torque in both motors equal 17.8
to -17.8 (N.m); their difference is in motor parameters. Also, zero voltage vectors are used in induction motor
unlike the PMS motor because, when voltage vectors are set equal to zero, the stators flux linkage vector
Intl. Res. J. Appl. Basic. Sci. Vol., 6 (10), 1380-1390, 2013
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remains constant, and then, electromagnetic torque rapidly declines. Induction motor parameters are chosen
according to Table (3).
Table 3. Induction motor parameters used in simulation
0.435 O
Stator Resistance R
(ohm)
0.816 O
Rotor Resistance R
(ohm)
0.002H Inductance [Ls] H
0.002H Inductance [Lr] H
0.06931H Inductance [Lm] H
0.089 Inertia[jkgm^2]
0.005 Friction factor
2 Pairs of pole
Figure. 12 (A & B) illustrates ripples of stator flux in PMS and Induction motors:
Figure 12 (A). Ripples of stator flux in PMS motor
Figure12 (B). Ripples of stator flux in induction motor
As observed in the Figure. above, ripples of stator flux is equal to around 0.025 (weber) and 0.04
(weber) in PMS and induction motors, respectively. Therefore, ripples of induction motor flux are larger than
PMS motor using DTC technique. In addition, torque ripples of these two motors are illustrated in the following
figures:
Intl. Res. J. Appl. Basic. Sci. Vol., 6 (10), 1380-1390, 2013
1389
Figure13 (A). Torque Ripples of PMS Motor
Figure13 (B). Torque Ripples of Induction Motor
The Figure. above demonstrates that value of electromagnetic torque ripples is approximately 2 N.m in
PMS motor and 6 N.m in the induction motor. Thus, electromagnetic torque of PMS motor in DTC method has
small error ripples compared to the induction motor.
Based on the previous comparisons, it can be concluded that PMS motor has lower flux and torque
ripples than induction motor in direct torque control technique. Consequently, performance of PMS motor is
superior to induction motor in DTC method. And, DTC is a suitable controller for PMS motor.
CONCLUSION
Permanent-magnet synchronous motor are currently used in most applications due to enjoying
attributes such as high durability, efficiency, and power coefficient, simple and inexpensive control, and easy
repair and maintenance. Mathematical equations of PMS motor indicate that variation in electromagnetic torque
can be controlled by stabilizing the amplitude of stator flux linkage and increasing or reducing the rotation
speed of stator flux linkage. Amplitude and rotation speed of stator flux linkage can be controlled by selecting
appropriate voltage vectors. DTC is applied for effective control of torque and flux without imposing any change
to motor and load parameters. In DTC, reference values of stator flux and torque are compared with the values
estimated in the drive system, and, their resulting error is sent to the hysteresis comparators, and, proper
voltage vector is chosen with respect to their output status and spatial position of stator flux vector. Accordingly,
proper switching command is sent to inverter for generation of this voltage vector.
In the present paper, DTC process of PMS motor was depicted, its simulation was carried out by
means of MATLAB/SIMULINK software package, and the results were analyzed. Differences of DTC method
for PMS and induction motors were discussed in the subsequent sections. Reference values of stator flux and
torque were kept at a constant level in this simulation.
As seen in DTC simulation results for PMS motor and induction motor, the DTC performed for PMS
motor exhibits lower level of flux and torque ripples, and at the same moment, effectively maintains the torque
response.
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