International Conference on Control, Engineering & Information Technology (CEIT'13)

Proceedings Engineering & Technology - Vol.2, pp.78-83, 2013

Copyright - IPCO

Direct Torque Control of Three phase Induction

Motor drive using Fuzzy Logic controllers for low
Torque ripple
A. Idir1 & M. Kidouche1
1
Applied Automation Laboratory, F.H.C., University of Boumerdes,
1 Av. de l'Independance, 35000 Boumerdes, Algeria
e-mail: idir_ah@ yahoo.fr

Abstract— This paper presents an improved Direct Torque torque control (DTC) is used to improve dynamic response
Control (DTC) based on fuzzy logic technique. The major performance and decrease the torque ripples.
problem that is usually associated with DTC drive is the high
torque ripple. To overcome this problem a torque hysteresis band
with variable amplitude is proposed based on fuzzy logic. The II. DTC STRUCTURES
fuzzy proposed controller is shown to be able to reducing the
in Fig. 1. At each sample time, the two stator currents
 and
The basic model of DTC induction motor scheme is shown
torque and flux ripples and to improve performance DTC

 and the DC bus voltage  are sampled. Using the inverter
especially at low speed. The validity of the proposed methods is

voltage vector, the ,

components of the stator voltage space
confirmed by the simulative results.

Keywords- Direct torque control, induction motor, fuzzy logic, vector in the stationary reference frame are calculated as
torque ripple minimization. follows.

  =   −   
  
I. INTRODUCTION

  
  =   −  

Fuzzy logic is recently getting increasing emphasis in drive (1)
√
control applications. Recent years, fuzzy logic control has
found many applications in the past two decades. This is so
largely increasing because fuzzy logic control has the The ,
components of the stator current space vector are
capability to control nonlinear uncertain systems even in the calculated using

" =

case where no mathematical model is available for the control

!
system [1]. So, the development of high performance control
" =
strategies for AC servo system drives resulted in a rapid #$% #$ (2)
evolution. To overcome the disadvantages of vector control √
technique, in the middle of 1980’s, a new quick response
technique for the torque control of induction motors was The stator flux is a function of the rotor flux which is
proposed by Takahashi as direct torque control (DTC) [2]. provides from the flux observer.

& = '( " + + & 

*
DTC provides very quick response with simple control


structure and hence, this technique is gaining popularity in
,

& = '( " + & 

*
industries [2]. Though, DTC has high dynamic performance, it (3)
has few drawbacks such as high ripple in torque, flux, current +,
and variation in switching frequency of the inverter. The
effects of flux and torque hysteresis band amplitudes in the Then the magnitude of the stator flux is calculated by
induction motor drive performance have been analyzed in [3].

Since DTC was first introduced, several variations to its |& | = .&
 + &
 (4)
original structure were proposed to overcome the inherent
disadvantages in any hysteresis-based controller, such as The electromagnetic torque is calculated by
variable switching frequency, high sampling requirement for
/ = 0& "1 & " 
digital implementation, and high torque ripple[22]-[23]. To 

(5)
solve this problem, various techniques have been proposed.
Including the use of variable hysteresis bands [17], predictive where p is the number of pole pairs.
control schemes [24], space vector modulation techniques [25]
and intelligent control methods [18]. This paper proposes a
novel scheme to improve the drive performance. Fuzzy direct

78
 

Switching Table
& 
1

∆ϕ
+ <;
-Fh Fh
-
&
-1

<=

<:
/546 1

-Th VSI
∆T
+ - Th

/4
-1

&


";
Torque and Flux
Estimator
":

IM

Figure.1. Block diagram of classical direct torque control

The torque and flux errors are defined as Three-level

level torque and two level flux hysteresis con-
con
∆& = 3&  3 − |& |
! 
trollers are used according to the outputs of the torque
∆/ = /  − /
(6) controller and the sector information,
information appropriate voltage
vectors for both the inverters are selected from a switching
The inverter switching states are determined by the torque and table as it is shown in Table 1.
flux errors according to the sector determined.
Table 1. Classical DTC Switching table.
As shown in Fig. 2, a switching table is used for the inverter
control such that the torque and flux errors are kept within the
specified bands.
Sector 6

Sector 5

Sector 4

Sector 3

Sector 2

Sector 1
 ,  

 , , 

> , @

> , @
7 7
6

> , @
7 7
6 6

57 77

77 97
 , 

7 57

6 6

6 6
7 7
6 2

2 6
2

Increase
Decrease Torque 100 110 010 011 001 101
Flux Decrease
Torque 011 001 101 100 110 010
Increase
Increase Torque 110 010 011 001 101 100
Flux Decrease
Torque 001 101 100 110 010 011

III. Torque ripple analysis

one of the inverter switching vectors is able to generate

Since none
(a) Output voltage vectors. the exact stator voltage required to produce the desired
changes in torque and flux, torque and flux ripples compose a
real problem in DTC induction motor drive.
1 Many solutions were proposed to improve performances [7, 9–
1 17].
-Th According to the principle of operation of DTC, the torque
∆ϕ s ∆Te
-Fh Fh Th presents a pulsation that is directly related to the amplitude of
its hysteresis band. The torque pulsation is required to be as
-1 -1 small as possible because it causes vibration and acoustic
noise [15].
(b) Flux comparator. (c) Three-level
level torque comparator. A small flux hysteresis bands should be preferred when high-
switching speed semi- conductor devices are utilized because
their switching losses are usually negligible with respect on
Figure 2. DTC definition of the voltage vectors and comparators.
comparator

79
state losses. In this way the output current harmonic can be
strongly reduced [15]. The hysteresis band has to be set large enough to limit the
inverter switching frequency below a certain level that is
usually determined by thermal restriction of power devices.
& C / D , & D / D Since the hysteresis bands are set to cope with the worst case,
the system performance is inevitably degraded in a certain
operating range, especially in a low speed region [17]. In
torque hysteresis controller, an elapsing time to move from
lower to upper limit, and vice versa can be changed according
to operating condition [17].
&
IV. DESIGN OF FLC FOR TORQUE RIPPLE
OPTIMIZATION

The principle of fuzzy logic direct torque control (DTC) is

& C / C , & D / C similar to traditional DTC. The difference is using a fuzzy
logical controller to replace the torque hysteresis loop
controller. As shown in Figure4.
Figure4

Figure. 3. Stator flux variation (& is in section 1)



Switching Table
& 
1

∆ϕ
+ <;
-Fh Fh
-
&
-1

<=

<:
/546 Fuzzy VSI
+ - controller
/4

&


";
Torque and Flux
Estimator
":

IM
Figure4. Fuzzy logic DTC scheme

In this paper, a Mamdani-type

type FLC is developed to adapt the in Table 2. Figure 5 and 6 shows the membership functions of
torque hysteresis band in order to reduce the ripples in the input and output ut variables respectively. The rules were
motor-developed torque [23]–[25]. [25]. In conventional DTC formulated using analysis data obtained from the simulation of
technique, the amplitude of the torque hysteresis band is fixed. the system using different values of torque hysteresis band.
However, in this proposed scheme, the FLC controls the upper
andd lower limits of the torque hysteresis band on the basis of
Table 2. Fuzzy rules of torque hysteresis controller
its feedback inputs. The fuzzy systems are universal function
approximators [24]. The FLC is used as a nonlinear function
approximator producing a suitable change in the bandwidth of
the torque hysteresis
ysteresis controller in order to keep the torque
ripples minimum.
The fuzzy controller design is based on intuition and
simulation. For differentt values of motor speed and current,
cur
the values reducing torque and flux ripple were found. These
values composed a training set which is used to extract the
table rule U(EC; E) . The shapes of membership
bership functions are
refined trough simulation and testing.
ing. The rules sets
set are shown

80
 Lds=Ls-Lm; Ldr=Lr-Lm; C and J=0.062Kg.m2 are
considered.
Stator flux linkage comparing curves are shown in Figure 6
and Figure 7.
Compared with two groups of flux waveform, the flux track
amplitude of traditional DTC model is volatile. At certain
parts, there is a clear deviation, flux required for a longer time
to reach steady-state, the fuzzy logic DTC flux track has
always maintained a very good round, flux is required for a
short time to reach steady-state, and flux amplitude fluctuation
is small.

a) 0.5

fsbeta [Wb]
0

-0.5

-1
-1 -0.5 0 0.5 1
fsalfa [Wb]
Figure.6. Stator flux circle based Classical DTC

0.8

0.6

0.4

0.2
b)
fsbeta[wb]

0
Figure.4. Input variables membership functions
-0.2

-0.4

-0.6

-0.8

-1
-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1
fsalfa[wb]

Figure.7. Stator flux circle based on Fuzzy DTC

Torque response comparing curves are shown in Figure 8 and

Figure 9.see Figures the torque ripple is significantly reduced
when fuzzy controller is in use. The fuzzy controller provides
the desired amplitude according to the torque ripple level and
operating condition, as it is shown in paper.

140

120

100
Figure.5. Output variable membership function
80
Torque [Nm]

60

40

V. SIMULATION RESULT 20

The simulations of the DTC induction motor drive were -20

carried out using the Matlab/Simulink simulation package. A -40

0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
3-phase, 4 pole, induction motor with parameters of Time [s]

Rs=0.728; Rr=0.706; Ls=0.0996; Lr=Ls; Lm=0.0969;

Figure.8. Torque response based Classical DTC

81
 120
IM
fuzzy logic DTC current waveform is relatively smooth, so,
effectively reduces the harmonic.
100

60
80

40
Torque [Nm]

60

40 20

Current (A)
20 0

0
-20

-20
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 -40
Time [s]

-60
Figure.9. Torque response based Fuzzy DTC 0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
Time(sec)

Figure12. Steady-state stator current based on Classical DTC

Figures10 and 11 shows the stator flux responses of both the

60
conventional and Fuzzy DTC schemes. It is found that the
proposed variable band torque hysteresis controller-based 40

DTC scheme exhibits smooth response and lesser ripple in

20
flux as compared to the conventional DTC scheme.

Current (A)
0

1
-20
0.9

0.8 -40

0.7
-60
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
Stator flux [Wb]

0.6
Time(sec)
0.5

0.4
Figure13. Steady-state stator current based on fuzzy logic DTC
0.3

0.2 VI. CONCLUSION

0.1

0
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
The present paper has presented a sensorless speed DTC drive
Time [s] with fuzzy controller. This controller determinates the desired
Figure.10. Steady-state stator flux-response based Classical DTC amplitude of torque hysteresis band. It is shown that the
proposed scheme results in improved stator flux and torque
1
responses under steady state condition. The main advantage is
0.9
the improvement of torque and flux ripple characteristics at
0.8
low speed region, this provides an opportunity for motor
0.7
operation under minimum switching loss and noise.
Stator flux[Wb]

0.6
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0.5
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