Analytical comparison between the performances of Field Oriented Control and Direct ... (81).pdf ·...

International Journal of Applied Engineering Research ISSN 0973-4562 Volume 12, Number 15 (2017) pp. 5289-5298

© Research India Publications. http://www.ripublication.com

5289

Analytical comparison between the performances of Field-Oriented Control

and Direct Torque Control for Induction Motor Drives

Nassira Medjadji1, Abdelkader Chaker2, Meabet Alia3

1Laboratory SCAMRE Department of Electrical Engineering, E.N.P Oran BP 1742 El’ M’naouer, Oran, Algeria.



Abstract

This study is a contribution to the field of high performance

Induction Motor control , so we have done a deep

comparative study between two famous Sensorless control

systems: the first is the (D.T.C) and the second is the (F.O.C) ,

where we put the engine and the type of system controlled by

the same conditions, ie the same operating conditions with

simulations, we can fair between the two control systems

mentioned earlier, by reaching the Pros and Cons for each

method, through schemes of direct torque control and field-

oriented control.

Through the results obtained from schemas showing that both

methods are very close in relation to the torque and the

response speed to the tracking of the reference imposed by us,

and we have observed that the (D.T.C) is somewhat better

than (F.O.C) in terms of flow control and complexity

Performance, and yet a we can't preference one of control

systems from other, since the choice of any of the two

methods is according to its agreement with the needs of the

user.

Keywords: Engine, DTC, FOC, microelectronic, power

electronic, speed.

INTRODUCTION

Due to the large and rapid progress of the microelectronics in

general and power electronics in particular, it has been

possible to know many of the problems encountered by

motors, with vector control strategies[1].

The basic plan in most scientific research is to control the

speed of the engine by using the adjustable frequency

transducer obtained by the transformers, so as to make the

engines able to withstand the dynamic torque response that is

often experienced while actually operating[2].

And since the advent of induction engines in 1985 they

accompanied by the use of D.T.C direct torque control[3].

If the torque is rely and accurate, D.T.C is able to produce a

rapid torque and control the flow, despite being considered a

simple control system. D.T.C can also control the flow

estimation.

With respect to the two commands (D.T.C) and (F.O.C),

many studies have been conducted concerning the comparison

between them[4], the comparison results in simulations

represented in the study graphs, showing that the (D.T.C)

system Provides a better response torque under the same

operating conditions.

With (F.S.T.P) inverter statement instead of (S.S.T.P) inverter

statement, an article contained an investigate of the

differences parameters between the two strategies (D.T.C) and

(F.O.C) is made by Mohamed[5].

The second method (S.S.T.P) is worse than other (F.S.T.P)

due to the high cost, note that (F.S.T.P) mean four switch

three phase and (S.S.T.P) mean six switch three phase

The difference between the two methods was based on some

of the criteria used frequently in the reality of engine

operation of which:

Normal operating conditions, sudden torque, reverse direction

of rotation, variation of resistance motor.

In this paper, we have conducted a comparative study

between the two methods, (D.T.C) and (F.O.C), by

incorporating new characteristics of motor, to verify the

durability of the two methods against abrupt operating

conditions changes,

And whether, it is possible to maintain the permanent

advantage of (F.O.C), if it is placed in these different

conditions.



5290

APPLICATION M.R.A.S WITH THE TWO

STRATEGIES (F.O.C) AND (D.T.C)

The mathematical model of induction engine

sqesd

sdssd dtdiRv

(1)

sdesq

sqssq dtd

iRv

(2)

rqslrd

rdr dtdiR

0 (3)

rdslrq

rqr dtd

iR

0 (4)

The flow in the two main engine parts is as follows:

rdmsdssd iLiL (5)

rqmsqssq iLiL (6)

sdmrdrrd iLiL (7)

sqmrqrrq iLiL (8)

The model of the two main engine sections is written by the

following factors:

sq

sd

s

s

rq

rd

sq

sd

rr

r

m

rrr

m

rrs

mr

rs

m

rs

s

rrs

m

rrs

m

rs

s

rq

rd

sq

sd

vv

L

L

ii

Tp

TL

pTT

LTLL

LLL

LTL

RLL

LTLL

LTL

R

dtddtd

idtd

idtd

00

00

10

01

10

10

.1

0

.01

(9)

Electromagnetic momentum and speed of rotor can be written

with the following relationships:

)(2

3sdrqsqrd

r

mem ii

JLLpT (10)

lremr T

Jp

JBT

Jp

dtd

(11)

The roll resistance of the two main motor parts in the

mathematical relationship is represented by the following

symbols respectively: sR and rR ;

L , sL and rL are the stator, mutual and rotor inductances;

p : Number of pole pairs;

e , r and sl are the synchronous, rotor and slip speed in

electrical rad/s;

sdv , sqv , sdi , sqi , rd and rq are stator voltage, stator

current and rotor flux d-q components in the rotor flux

oriented reference frame; emT and lT are the electromagnetic

torque and the load torque;

J and B are the motor inertia and viscous friction

coefficient.

Under the rotor flux orientation conditions the rotor flux is

aligned to the d-axis of the d-q rotor flux oriented frame

calculated by:

0rd (12)

sdmrq iL (13)

The slip frequency can be defined as[6]:

*

*1

sd

sq

rresl i

iT

(14)

The electromagnetic torque calculate by:

sqtsqrr

mem iKi

LLpT

2

3 (15)

tK is the torque constant.

Figure 1: A diagram showing the composition of the control

components used in the study.



5291

Explain the strategy of D.T.C

One of the objectives of direct torque control is to minimize

the switching frequency of the inverter. And on the other is

that the operation does not require a constant DC voltage at

the input of the inverter. An economical smoothing capacity is

thus saved.

The stator flux calculate by:

ssss dtdIRV (16)

The electromagnetic torque represent by [7], [8]:

sinrsrsem kkT

(17)

So that both know :

s : is the vector of stator flux;

r : is the vector of rotor flux;

: is the angle between the vectors of stator and

rotor flux.

Demonstration of the simplification method:

The diagram in figure 2 and detailed in Table 1 shows a

simplification method to illustrate how to monitor both the

flow generated by the motor as well as the electromagnetic

momentum. This method is proposed by the relevant

researcher in this field Takahashi[9], which is the main

reference for most of the scientific research in this specialty,

which simplifies previous operations into six sectors.

Figure 2: The voltage vectors corresponding to the control of

stator flux

TABLE 1.

THE SELECTION WHEN USING TWO DIRECTIONS OF ROTATION.

s emT 1s 2s 3s 4s 5s 6s

1

1 2V 3V 4V 5V 6V 1V

0 7V 0V 7V 0V 7V 0V

−1 6V 1V 2V 3V 4V 5V

0

1 3V 4V 5V 6V 1V 2V

0 0V 7V 0V 7V 0V 7V

−1 5V 6V 1V 2V 3V 4V

The Simulink blocks of D.T.C show in Figure 3.

Figure 3: Simulink blocks of D.T.C

Reference Model of (M.R.A.S)

The rotor flux of M.R.A.S speed observer structure contains a

reference model, an adaptive model, and an adaptation

scheme which the estimated speed producing. The reference

model often reflects the reference rotor flow components

mentioned by[10]:

dtdiLiRv

LL

dtd sd

ssdssdm

rrd

(18)

dtdi

LiRvLL

dtd sq

ssqssqr

mrq

(19)

The velocity of rotor and the rotor flux components

attained from the adaptive model can be expressed in the

following computational relationships:

𝑽𝟑

𝑽𝟐

𝑽𝟒

𝐯𝟏

𝑽𝟓

𝑽𝟔

𝝎𝒔

𝛹𝑆

𝛥𝛹3 𝛥𝛹2

𝛥𝛹1

𝛥𝛹6 𝛥𝛹5 𝛥𝛹4

𝑆𝑒𝑐𝑡𝑜𝑟 2

Sector 3

Se𝑐𝑡𝑜𝑟 4






5292

rqrrrdsdmrd

r TiLdt

dT

ˆˆˆˆ

(20)

rdrrrqsqmrq

r TiLdt

dT

ˆˆˆ

ˆ (21)

The MRAS-based schemes described previously contain a

reference model and an adaptive model. Nonetheless, more

exactness and robustness can be accomplished if the

mathematical model is partially substituted by a robust

(A.N.N).

DISCUSSION OF THE RESULTS

After the production of the schemes of the two methods

previously studied theoretically (F.O.C) and (D.T.C), after

treatment and calculations using the program simulink listed

in the math program Mathlab. And based on Table 2 which

shows the engine data adopted in the simulators.

The primary objective of the first strategy (D.T.C) is the

direct control of the torque and flux produced by the motor,

by means of voltage vector provided by the inverter. In order

to control the torque in two directions, we need a hysteresis

controller, and we can also need to raise and lower the

electromagnetic torque of the engine, as well as maintain its

value constant.

While the previously mentioned second strategy (F.O.C)

enables us to control and estimate the motor speed.

As we said earlier, the Simulink program can test the

durability of both methods:

Steady state and transient behaviors

Figures 4 and 5 show the comparison between the first

strategy (D.T.C) and the second strategy (F.O.C) concerning

the performances and favors following the instructions

imposed,

The second method (F.O.C) offers a better dynamics at

starting instant and rapid following torque disturbance

rejection compared to the first strategy (D.T.C).

(a)

(b)

0 5 10 15

0

500

1000

1500

Time (s)

Ro

to

r S

peed

(rp

m)

0 5 10 15-10

0

10

20

30

40

Reference speed

Real speed

Estimated speed

Error speed

Erro

r S

peed

(rp

m)

12.5 13 13.5 14 14.5

1500

Time (s)

Ro

to

r S

peed

(rp

m)

12.5 13 13.5 14 14.5

30

Reference speed

Real speed

Estimated speed

Error speed

Erro

r S

peed

(rp

m)



5293

(c)

(d)

Figure 4: Simulated starting responses of the proposed DTC scheme for 1M drive with load applied: (a) speed, (c) zoom of

speed, (c) current sdi , sqi and emT , and (d) zoom of currents and torque.

(a)

0 5 10 15

0

20

Time (s)

Sta

to

r C

urren

ts (A

)

0 5 10 15-10

0

10

00.51

Tem

(N

m)

Electromagnetic

Torque

Stator

Currents

6.82 6.84 6.86 6.88 6.9 6.92 6.94 6.96 6.98 7 7.02

0

Time (s)

Sta

to

r C

urren

ts (

A)

6.82 6.84 6.86 6.88 6.9 6.92 6.94 6.96 6.98 7 7.02

0

00.51

Tem

(N

m)

Electromagnetic

Torque

Stator

Currents

0 5 10 15

0

500

1000

1500

Sp

eed

(rp

m)

Time (s)

0 5 10 15-100

-50

0

50

100

150

Erro

r sp

eed

(rp

m)

0 5 10 15-100

-50

0

50

100

150

0 5 10 15-100

-50

0

50

100

150

Estimated speed

Reference speed

Real speed

Error speed



5294

(b)

(c)

Figure 5: Simulated starting responses of the proposed FOC scheme for 1M drive with load applied: (a) speed, (b) zoom of

speed, (c) current sdi , sqi and emT , and (c) zoom of currents and torque.

The results obtained from the Simulink program in the form

of schemas, showed that (D.T.C) form immediately

establishment compared to the second strategy (F.O.C), and

this basically increases the dynamics of the device,

(D.T.C) offers a more fluctuating current when starting out

compared to the (F.O.C) which is better in terms of

oscillation, because (D.T.C) does not contain the regulation

loops of the current that are available in the (F.O.C),

Study of the effects of changing the direction of rotation

and application of sudden torque at certain moment.

The ripples formed on the drawings obtained in Figures 6

and 7 represent the velocity and torque obtained by the

(D.T.C) and (F.O.C) methods. We also notice that we have

changed the direction of rotation from 1000 rpm to -1000 rpm

at moments t=0.3s, 8 s, 16.2 s 19.5 s and 27s we also applied

a charges in those moments.

The amplitude ripples of the torque in the graph of (F.O.C)

are better than amplitude ripples obtained by the (D.T.C).

(a)

11.4 11.6 11.8 12 12.2 12.4 12.6 12.8 13

500

1000

1500

Sp

eed

(rp

m)

Time (s)

0 5 10 15-100

-50

0

50

100

150

Erro

r sp

eed

(rp

m)

0 5 10 15-100

-50

0

50

100

150

11.4 11.6 11.8 12 12.2 12.4 12.6 12.8 13

0

50

100

Estimated speed

Reference speed

Real speed

Error speed

0 5 10 15

-4

-2

0

2

4

6

isd

, isq

(A

)

Time (s)

0 5 10 15-1

0

1

2

Tem

(N

m)

0 5 10 15-0.2

0

0.2

0.4

0.6

0.8

1

1.2

1.4

0 5 10 15-0.2

0

0.2

0.4

0.6

0.8

1

1.2

1.4

0 5 10 15-0.2

0

0.2

0.4

0.6

0.8

1

1.2

1.4

isdest

isdmes

isqest

isqmes

Tem

0 5 10 15 20 25 30

-1000

-500

0

500

1000

Time (s)

Ro

to

r S

peed

(rp

m)

0 5 10 15 20 25 30-20

-10

0

10

20

30

40

Reference Speed

Real Speed

Estimated Speed

Error Speed

Erro

r S

peed

(rp

m)



5295

(b)

(c)

(d)

Figure 6: Speed, torque and stator current responses scheme

at medium speed with direction change and torque applied

from the (D.T.C) strategy:

(a) speed, (d) zoom of speed, (c) current , (d) zoom of currents

and torque.

(a)

(b)

(c)

18 19 20 21 22 23 24

-500

0

500

1000

Time (s)

Ro

to

r S

peed

(rp

m)

18 19 20 21 22 23 24

0

10

20

30

Reference Speed

Real Speed

Estimated Speed

Error Speed

Erro

r S

peed

(rp

m)

0 5 10 15 20 25 30

-5

0

5

Time (s)

Sta

to

r C

urren

ts (A

)

0 5 10 15 20 25 30-20

-10

0

10

20

Tem

(N

m)

Electromagnetic

Torque

Stator

Currents

4.8 4.85 4.9 4.95 5 5.05 5.1 5.15 5.2 5.25 5.3

0

5

Time (s)

Sta

to

r C

urren

ts (A

)

4.8 4.85 4.9 4.95 5 5.05 5.1 5.15 5.2 5.25 5.3

0

10

Tem

(N

m)

Stator

Currents

Electromagnetic

Torque

0 5 10 15 20 25 30-1500

-1000

-500

0

500

1000

1500

Sp

eed

(rp

m)

Time (s)

0 5 10 15 20 25 30-400

-300

-200

-100

0

100

200

Error s

peed

(rp

m)

0 5 10 15 20 25 30-400

-300

-200

-100

0

100

200

0 5 10 15 20 25 30-400

-300

-200

-100

0

100

200

Estimated speed

Reference speed

Real speed

Error speed

4.5 5 5.5 6 6.5 7 7.5 8 8.5 9

500

1000

Sp

eed

(rp

m)

Time (s)

0 5 10 15 20 25 30-400

-300

-200

-100

0

100

200

Error s

peed

(rp

m)

0 5 10 15 20 25 30-400

-300

-200

-100

0

100

200

4.5 5 5.5 6 6.5 7 7.5 8 8.5 9

0

100

Estimated speed

Reference speed

Real speed

Error speed

0 5 10 15 20 25 30-10

0

10

isd

, isq

(A

)

Time (s)

0 5 10 15 20 25 30-1

0

1

Tem

(N

m)

0 5 10 15 20 25 30-1

0

1

0 5 10 15 20 25 30-1

0

1

0 5 10 15 20 25 30-1

0

1

Temest

isdmes

isdest

isqest

isqmes



5296

(d)

Figure 7: Speed, torque and stator current responses scheme

at medium speed with direction change and torque applied

from the (F.O.C) strategy:

(a) speed, (d) zoom of speed, (c) current , (d) zoom of currents

and torque.

The consequences of reversing the direction of low-

velocity rotation

The schematics obtained by simulation accurately show how

the process performs at low speeds.

Figure. 6.a. and 7.a show the results obtained by simulators

while reversing the direction of rotation from 100 to 100 -

where this change occurred in two stages, showing that the

speed accurately follows the reference.

Figure 7,b,c show the difference in currents of the stator .

Figure 8 shows the performance of speed control simulation

In Figure 8.a, Figure 9.a and the stator currents estimation in

Figure 8.c and Figure 9.c.

At a reference speed of 100 rpm, the steady state error is

gotten. At these speeds and below, the M.R.A.S based A.N.N

sensorless scheme fails to provide stable operation giving

large oscillations for the two techniques presented.

(a)

(b)

(c)

(d)

Figure 8: Torque, estimated speed, and stator current

responses of DTC scheme at low speed:

(a) speed, (d) zoom of speed, (c) current sdi , sqi and emT , and

(c) zoom of currents and torque.

16 16.5 17 17.5 18 18.5 19 19.5 20 20.5

0

isd

, isq

(A

)

Time (s)

0 5 10 15 20 25 30-1

0

1

Tem

(N

m)

0 5 10 15 20 25 30-1

0

1

0 5 10 15 20 25 30-1

0

1

16 16.5 17 17.5 18 18.5 19 19.5 20 20.5

0

Temest

isdmes

isdest

isqest

isqmes

0 2 4 6 8 10 12 14 16 18 20

0

Time (s)

Rotor S

peed

(rp

m)

0 2 4 6 8 10 12 14 16 18 20-10

0

10

Reference Speed

Real Speed

Estimated Speed

Error Speed

Error S

peed

(rp

m)

2 2.5 3 3.5 4 4.5

0

Time (s)

Ro

to

r S

peed

(rp

m)

2 2.5 3 3.5 4 4.5

0

Reference Speed

Real Speed

Estimated Speed

Error Speed

Erro

r S

peed

(rp

m)

0 2 4 6 8 10 12 14 16 18 20

-2

-1

0

1

2

Time (s)

Sta

to

r C

urren

t (A

)

0 2 4 6 8 10 12 14 16 18 20-20

-10

0

10

20

Tem

(N

m)

Electromagnetic

Torque

Stator

Currents

2.4 2.6 2.8 3 3.2 3.4 3.6

-1

0

1

Time (s)

Sta

to

r C

urren

t (A

)

2.4 2.6 2.8 3 3.2 3.4 3.6

-10

0

10

Tem

(N

m)

Electromagnetic

Torque

Stator

Currents



5297

(a)

(b)

(c)

(d)

Figure 9: The Simulation results responses of FOC scheme

with the proposed MRAS method at low speed:

(a) speed, (d) zoom of speed, (c) current sdi , sqi and emT , and

(c) zoom of currents and torque.

CONCLUSION

We have prepared this study to make a new comparison

between the two methods (D.T.C) and (F.O.C) under the

influence of new factors that have not been used before

judging one of these two methods in terms Performance and

control.

Despite the many changes we have imposed on both methods,

such as changing the direction of speed and imposing certain

loads at specific times, as well as the use of high share speeds

and the use of Low speed, on the other hand, we found that

the method (F.O.C) is better in terms of performance and in

terms of the speed of tracking the reference speed, but there is

a slender advantage of the (D.T.C) comparative to the (F.O.C)

for dynamic flow control performance.

Despite (D.T.C) may be desirable for high dynamic

applications; but it displays a ripple and a more fluctuating

current torque.

As researchers, we have given an overview of an adaptation

of the association M.R.A.S observer-D.T.C and adaptive

M.R.A.S observer-F.O.C.

This combination makes it more robust and stable induction

motor based D.T.C and F.O.C.

TABLE 2: THE PARAMETERS OF INDUCTION MOTOR

𝐶𝑜𝑚𝑝𝑜𝑛𝑒𝑛𝑡𝑠 𝑣𝑎𝑙𝑢𝑒𝑠

𝑆𝑡𝑎𝑡𝑜𝑟 𝑟𝑒𝑠𝑖𝑠𝑡𝑎𝑛𝑐𝑒 𝑅𝑠 = 11.8𝛺

𝑅𝑜𝑡𝑜𝑟 𝑟𝑒𝑠𝑖𝑠𝑡𝑎𝑛𝑐𝑒 𝑅𝑟 = 11.3085𝛺

𝑆𝑡𝑎𝑡𝑜𝑟

/𝑟𝑜𝑡𝑜𝑟 𝑖𝑛𝑑𝑢𝑐𝑡𝑎𝑛𝑐𝑒

𝐿𝑠 = 𝐿𝑟 = 0.5568𝐻

𝑀𝑢𝑡𝑢𝑎𝑙 𝑖𝑛𝑑𝑢𝑐𝑡𝑎𝑛𝑐𝑒 𝐿𝑚 = 0.6585𝐻

𝑀𝑜𝑚𝑒𝑛𝑡 𝑜𝑓 𝑖𝑛𝑒𝑟𝑡𝑖𝑎 𝐽 = 0.0020 𝐾𝑔. 𝑚2

𝑉𝑖𝑠𝑐𝑜𝑢𝑠 𝑓𝑟𝑖𝑐𝑡𝑖𝑜𝑛 𝑓 = 3.1165𝑒 − 004𝑁. 𝑚/𝑟𝑎𝑑/𝑠𝑒𝑐

𝑁𝑢𝑚𝑏𝑒𝑟 𝑜𝑓 𝑝𝑜𝑙𝑒 𝑝𝑎𝑖𝑟𝑠 𝑝 = 2

REFERENCES

[1]. M.P. Kazmierkowski, L.G. Franquelo, J. Rodriguez,

M. Perez, and J.I. Leon, “High-performance motor

drives”, IEEE Industrial Electronics Magazine 5 (4),

6–26, 2011.

[2]. K.Sedhuraman, S.Himavathi and

A.Muthuramalingam, Performances Comparison of

Neural Architectures for On-Line Speed Estimation

in Sensorless IM Drives, World Academy of Science,

0 2 4 6 8 10 12 14 16 18 20

-100

-50

0

50

100

Time (s)

Motor s

peed

(rp

m)

Estimated speed

Reference speed

Actual speed

2 2.5 3 3.5 4 4.5-100

0

100

Ro

to

r S

peed

(rp

m)

Time (s)

0 2 4 6 8 10 12 14 16 18 20-100

-50

0

50

100

Erro

r S

peed

(rp

m)

0 2 4 6 8 10 12 14 16 18 20-100

-50

0

50

100

2 2.5 3 3.5 4 4.5

-50

0

50Real Speed

Reference Speed

Estimated Speed

Error Speed

0 2 4 6 8 10 12 14 16 18 20

-0.8-0.6-0.4-0.2

00.20.40.60.8

isd

, isq

(A

)

Time (s)

0 2 4 6 8 10 12 14 16 18 20-0.4

-0.3

-0.2

-0.1

0

0.1

0.2

0.3

0.4

Tem

(N

m)

0 2 4 6 8 10 12 14 16 18 20-0.4

-0.3

-0.2

-0.1

0

0.1

0.2

0.3

0.4

0 2 4 6 8 10 12 14 16 18 20-0.4

-0.3

-0.2

-0.1

0

0.1

0.2

0.3

0.4

0 2 4 6 8 10 12 14 16 18 20-0.4

-0.3

-0.2

-0.1

0

0.1

0.2

0.3

0.4

Tem

isqmes

isqest

isdest

isdmes

0.5 1 1.5 2 2.5 3

-0.8

-0.6

-0.4

-0.2

0

0.2

0.4

0.6

0.8

isd

, isq

(A

)

Time (s)

0 2 4 6 8 10 12 14 16 18 20-0.4

-0.3

-0.2

-0.1

0

0.1

0.2

0.3

0.4

Tem

(N

m)

0 2 4 6 8 10 12 14 16 18 20-0.4

-0.3

-0.2

-0.1

0

0.1

0.2

0.3

0.4

0 2 4 6 8 10 12 14 16 18 20-0.4

-0.3

-0.2

-0.1

0

0.1

0.2

0.3

0.4

0.5 1 1.5 2 2.5 3

-0.3

-0.2

-0.1

0

0.1

0.2

0.3

Tem

isqmes

isqest

isdest

isdmes



5298

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IEEE T Power Electr, vol. 27, no. 3, pp. 1502-1513,

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