Direct Torque
Control
(DTC)
Direct Torque Control (DTC)
The conventional direct torque control of an AC machine
supplied by a voltage-source inverter (VSI) involves:
The direct control of the flux-linkage space vector
- stator flux-linkage space vector
- rotor flux-linkage space vector
- airgap flux-linkage space vector
The direct control of the electromagnetic torque by
applying
- optimum voltage switching vectors of the
inverter which supplies the motor.
The main advantages of the DTC, when compared
with vector control are:
1. Absence of coordinate transformation (which is
required in all of the vector-controlled drive
implementations);
2. Absence of a separate voltage modulation block
(required in vector controlled drives);
3. Absence of voltage decoupling circuits (required in
voltage-fed vector controlled drives);
• In 1995, the first commercial direct torque controlled
• induction motor drive was introduced by ABB
DTC allows the motor’s torque and stator flux to be used as
primary control variables, both of which are obtained directly
from the motor itself. Therefore, with DTC, there is no need
for a separate voltage and frequency controlled PWM
modulator. Another big advantage of a DTC drive is that no
feedback device is needed for 95% of all drive applications.
4. Absence of current controllers;
5. Only the sector where the flux-linkage
space vector is located, and not the
actual flux-linkage space-vector
position, has to be determined;
6. Minimal torque response time.
Frequency Control PWM and Flux Vector PWM
Traditional PWM drives use output voltage and output
frequency as the primary control variables but these need
to be pulse width modulated before being applied to the
motor. This modulator stage adds to the signal processing
time and therefore limits the level of torque and speed
response possible from the PWM drive.
Typically, a PWM modulator takes 10 times longer than
DTC to respond to actual change.
However, the main disadvantages of a
conventional DTC scheme are [Vas, 1998]:
1. Possible problems during starting and low
speed operation and during changes in
torque command;
2. Requirement for flux and torque estimators
(same problem exists for vector drives);
3. Variable switching frequency;
4. High torque ripple.
Benefits of DTC technology over traditional AC
drive technology?
There are many benefits of DTC technology. But most
significantly, drives using DTC technology have the
following exceptional dynamic performance features,
many of which are obtained without the need for an
encoder or tachometer to monitor shaft position or
speed:
Torque response: -
How quickly the drive output can reach
• the specified value when a nominal 100% torque
reference step is applied.
• For DTC, a typical torque response is 1 to 2ms below
40Hz compared to between 10-20ms for both flux vector
and DC drives fitted with an encoder. of milliseconds.
• Accurate torque control at low frequencies,
as well as full load torque at zero speed
without the need for a feedback device such
as an encoder or tachometer.
•With DTC, speed can be controlled to
frequencies below 0.5Hz and still provide
100% torque right the way through to zero
speed.
Comparison of variable speed drives
The first observation is the similarity between the control
block of the DC drive (Figure 1) and that of DTC (Figure 4).
Both are using motor parameters to directly control torque.
But DTC has added benefits including no feedback device is
used; all the benefits of an AC motor and no external
excitation is needed.
field orientation is achieved without feedback using advanced
motor theory to calculate the motor torque directly and without
using modulation. The controlling variables are motor
magnetising flux and motor torque.
With DTC there is no modulator and no requirement for a
tachometer or position encoder to feed back the speed or
AC Drives - flux vector control using PWM
