International Journal of Electrical and Computer Engineering (IJECE)

Vol. 8, No. 5, October 2018, pp. 2894~2903

ISSN: 2088-8708, DOI: 10.11591/ijece.v8i5.pp2894-2903  2894

Simulation and Analysis of Modified DTC of PMSM

D. Kiran Kumar, G. Tulasi Ram Das

Department of Electrical and Electronics Engineering, JNTUH College of Engineering, India

Article Info ABSTRACT

Article history: This research paper describes the simulation and analysis of the modified
DTC for Surface mounted Permanent Magnet Synchronous Motor (SPMSM)
Received Jun 5, 2017 using PI controller. Among all of the various drive systems,PMSM is widely
Revised Dec 23, 2017 used for accurate speed and torque control, with greater efficiency, superior
Accepted Jul 25, 2018 torque to inertia and high power density.The Conventional DTC secheme
widely used for this purpose but it is failed to achieve desirable performance
of the system for which the modified DTC secheme is propsed.The modified
Keyword: DTC algorithm controls the voltage vectors, directly from a simple look up
table depending on outcome of the torque and indirectly flux controllers.The
Hysteresis bands, overall drive system can be implemented in SIMULINK/MATLAB
Modified DTC, environment.The modified DTC is validated with loading conditions.The
Percentage of THD, simulated results are focused on the speed, settling time at loaded conditions,
Permanent magnent, torque and flux linkages ripple and THD in the phase current for modified
Synchronous motor, DTC applied to SPMSM.
PI controller,
Copyright © 2018 Institute of Advanced Engineering and Science.
The fast torque response. All rights reserved.

Corresponding Author:
D. Kiran Kumar,
Department of Electrical and Electronics Engineering,
Jawaharlal NehruTechnological University,
Hyderabad, Telangan State, India-500085, India.
Email: [email protected]

1. INTRODUCTION
The last few decades, Permanent Magnent Synchronous Motor (PMSM) has acquired more
popularity in far ranging application and in the automation sector because of its compact size, high
efficiency, small inertia and high reliability which is greater than the induction and dc motors [1]. It has
similar properties like Wound Rotor Synchronous motor except that the PMSM has no damper windings
and the Permanent magnets are used to provide the excitation to the motor instead of field winding [2].
The Direct Torque Control (DTC) is a viable control algorithm for SPMSM. It does not require
current controller and no motor parameters except the stator resistance, which gives the more benifits such
as less parameters dependency, simple implementation and fast dynamic torque response [3].The traditional
DTC adopts hysteresis bands control strategy for implementation. But this method can not meet the system
requirements for both the torque and flux linkage at the same time generates large fluctuations of flux
linkage and torque by system which leads to problem of pulse current and causes switching noise due to
change in switching frequency [4],[5].
In order to overcome these issues the modified DTC method is developed without using switching
tables, to reduce the fluctuations of the torque and flux linkages of the system and THD % in the current
spectrum of stator winding is low.In addition to achieve the fast torque response with indirect flux
controllers [6]. In this paper, first the mathematical modeling of PMSM has been developed. Then the
simulation of modified DTC of PMSM with two level inverter is carried out using SIMULINK/MATLAB.

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2. MATHEMATICAL MODELING OF PERMANENT MAGNET SYNCHRONOUS MOTOR

The permanent magnets of PMSM are of a modern rare earth variety and it has high resistivity, so
the induced currents of rotor are neglected. However the PMSM produces the rotor magnetic flux with
permanent magnets attached to the rotor. It has superior advantages to obtain high efficiency. The stator of
the PMSM and the Wound Rotor Synchronous Motor are same. The d-q reference frame theory offers
significant control system design by transferring the stationary variables to rotating reference frame.

Figure 1. Cross sectional veiw of surface mounted perment magnet machine

Depending on d-q reference frame theory from Figure 2. the mathematical equations of PMSM [7]
can be expressed as following as in.

Figure 2. Stator and rotor flux linkages in different reference frames

dλd
Vd = R d Id + − ωr λq (1)
dt

𝑑𝜆𝑞
𝑉𝑞 = 𝑅𝑞 𝐼𝑞 + + 𝜔𝑟 λ𝑑 (2)
𝑑𝑡

where Rd and Rq are the Direct and Quadrature axis winding resistances which are equal and refered as Rs in
the stator resistance.The excitation of PMSM can be modeled as a constant current sources and the quadrature
current in the rotor is zero due to no flux along quadrature axis in the rotor. By this assumption, the flux
linkages are derived as following as in

λ𝑑 = LdId+λf If (3)

λq = LqIq (4)

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where 𝜆f is rotor flux along d axis and Ld and Lq are the Direct and Quadrature axis synchronous
inductance. For a surface mounted machine (SPMSM) with uniform air gap Ld = Lq= Ls. and Substituting
equation (3) and (4) in equations (1) and (2) then obtained [8] as

𝑑𝐼𝑑
𝑉𝑑 = 𝑅𝑠 𝐼𝑑 + 𝐿𝑑 � � − 𝜔𝑟 𝐿𝑞 𝐼 q ` (5)
𝑑𝑡

𝑑𝐼𝑞
𝑉𝑞 = 𝑅𝑠 𝐼𝑞 + 𝐿𝑞 � � + 𝜔𝑟 𝐿𝑑 𝐼𝑑 + 𝜔𝑟 𝜆f𝐼𝑓 (6)
𝑑𝑡

The Electromagnetic torque developed by the motor is given by equation (7)

3
𝑇𝑒 = 𝑃(𝐿𝑑 𝐼𝑞 𝐼𝑑 + 𝜆𝑓 𝐼𝑞 − 𝐿𝑞 𝐼𝑞 𝐼𝑑 ) (7)
2

And the mechanical torque Te is expressed as equation (8)

.
𝐽𝜔
𝑇𝑒 − 𝑇𝐿 = 𝐵𝜔𝑚 + 𝑚 (8)
𝑑𝑡

Where P = no. of poles

λf = magnetic flux, wb
ωr = rotor speed in electrical rad/s
Te = Electromagnetic torque, Nm
TL = Load torque
J = Moment of Inertia
B = Friction coefficient
The stator fluxes of α-β axis for motor [9],[10] are given as equations (9) and (10)

λα = ∫ (Vα − R S Iα )dt (9)

𝜆𝛽 = ∫ (𝑉𝛽 − 𝑅𝑠 𝐼𝛽 )𝑑𝑡 (10)

The stator fluxes of α-β axis are used for determine the sector of the flux vector and the circular trajectory
of stator flux is divided into six sectors are referred to inverter voltage vectors.Then based on equations (9)
and (10) the magnitude of the estimated stator flux and sector [5] are calculated as equation (11)

|𝜆𝑠 | = �𝜆𝛼 2 + 𝜆𝛽 2 (11)

𝜆𝛼
𝜃𝑠 = tan−1 ( ) (12)
𝜆𝛽

3. THE PRINCIPLE OF OPERATION OF MODIFIED DTC

The basic working principle of operation of conventional DTC is based on the errors between
estimated and reference values of torque and stator flux linkages. This method is very popular due to its
simplicity, high efficiency and robustness. However, in traditional DTC the current controller is a not
required. In this method, it generates large fluctuations of flux linkage and torque by motor which causes
problem of current and switching noise due to higher switching frequency change.
The modified DTC method is implemented without using switching tables, hysteresis bands as
Figure 3 shown below and the absensce of switching table and hysteresis bands significantly reduce the
torque and flux linkage ripples. Moverever, the percentage of Total Harmonics Distortion of Stator winding
current spectrum is low and it require less settling time for rotor speed when the load is applied.The fast
torque response can be achieved with indirect flux controllers.

Int J Elec & Comp Eng, Vol. 8, No. 5, October 2018 : 2894 - 2903
Int J Elec & Comp Eng ISSN: 2088-8708  2897

Figure 3. Schematic diagram of modified DTC of PMSM with PI controller using two levels Inverter

3.1. Vector Modulation

Vector modulation can be implemented with the torque comparator and sector which is
determined from the stator flux vectors.Three blocks of Look Up Tables (2-D) are used for
implementation of code with the switching states of two level voltage source inverter as shown in
Figure 4. These are applied to the corresponding look up tables for all six sectors are in Figure 5.

Figure 4. Implementation of vector modulation for modified DTC

Where in the sector selection of Space vector modulation for two level inverter [11] as in Figure 5

Figure 5. Sector selection of Space Vector Modulation

3.2. Two Level Voltage Source Inverter
Simulation and Analysis of Modified DTC of PMSM (D. Kiran Kumar)
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The circuit of a three phase two level VSI is shown in Figure 6. The input of circuit is DC
voltage Vdc and the output voltages are applied to the SPMSM as load. The stator flux of a motor is
controlled by voltage vectors. The rotation of stator flux is high then achieved the fast torque response.

Figure 6. Three phase two level VSI in SIMULINK (MATLAB)

3.3. PI Controller
A PI controller is used to estimate the torque from the difference between the reference and actual
speed of the motor [12] as shown in Figure 7. The parameters of PI controller Kp and Ki should be matched
and to achieve the high performance of the drive system.The most of the cases, a large value of Kp will
accelerate the dynamic response of the system and Ki value influence the static error.

Figure 7. Block daigram of PI conroller

4. SIMULATION AND ANALYSIS OF RESULTS

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The overall system consisting of the modeling of SPMSM, estimation of stator flux and torque
block, determination of sector, comparator, Vector modulation and three phase two level inverter which are
modeled based on mathematical equations from equations (1) – (12). In this paper, the motor parameters
are consider [9],[13],[14] as shown Table 1. The simulation block diagram for modified DTC for SPMSM
with PI controller represented in below Figure 8.

Table 1. The Specification of SPMSM

Motor Parameters Symbols Values
Stator Resistance Rs 2.875Ω
D Axis Inductance Ld 0.0085H
Q Axis Inductance Lq 0.0085H
Flux induced in SPMSM λf 0.175 wb
Momentum of Inertia J 0.0008 Kg-m2
Friction Factor B 0.0001
Poles P 4

Figure 8. Simulation block diagram of modified DTC of SPMSM

By using MATLAB/ SIMULINK, The output waveforms of modified DTC for SPMSM are
compared with the conventional DTC in view of speed performance with no load and load condition
,fluxlinkage, torque response and finally to estimate the perenetage of THD for stator current spectrum and
as obvious in the Figure 9-16. From these figures, the generations of fluctuations in are greatly reduced and
attaining reference speed immediately with load disturbance.

4.1. Analysis the Speed Response of Modified DTC for SPMSM

Figure 9 and 10 describes the speed response of modified DTC for SPMSM as well as conventional
DTC.The both drives are operated with reference speed of 175 rads/sec.for no load condition and load 6 Nm
is applied at 0.5 sec.In case of conventional DTC, The speed of the motor consisting oscillations whenever
load is applied at 0.5 sec. and the system requires time to reach the reference speed.Wherein the modified
DTC, the fluctuations of speed response is very less, in addition the same load applied at 0.5 sec. the drive
attains to rated speed immediately as shown in Figure 10.

Simulation and Analysis of Modified DTC of PMSM (D. Kiran Kumar)

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Figure 9. Speed response of conventional DTC for SPMSM with PI controller

Figure 10. Speed response of modified DTC for SPMSM with PI controller

4.2. The Estimated Stator Flux Vector

The circular trajectory of stator flux vector of modified DTC and conventional DTC of SPMSM
with PI Controller are shown as Figure 11 and 12. From these circles of stator fluxes, the content of ripples
in the flux trajectory of the modified DTC method is very low and which is very smooth circle.

Figure 11. Conventional DTC of stator flux trajectory Figure 12. Modified DTC stator flux trajectory

4.3. The Estimated Torque Response

The torque responses of SPMSM with PI controller using three phase two level VSI at no load and
load is applied 6 Nm at 0.5 sec.as shown in Figure 13 and 14. Whereas the torque response of modified
DTC for PMSM is achieved fast and the parcentage of ripples are low than the traditional DTC

Int J Elec & Comp Eng, Vol. 8, No. 5, October 2018 : 2894 - 2903
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Figure 13. Estimated torque of conventional DTC for PMSM

Figure 14. Estimated torque of modified DTC for PMSM

4.4. The Estimated Percentage of THD for Stator Current Spectrum

Finaly from the Figure 15 and 16, it observed that the FFT analysis of the current spectrum, in the
modified DTC is observed that the percentage Total Harmonic Distortion (%THD) can be calculated for the
phase current vector of PMSM with PI Controller for 20 cycles with fundamental frequency and THD is
recorded to be 31.84% which is less than conventional DTC (52.78%).

Figure 15. % THD for Phase current Vector of Figure 16. % THD for Phase current vector of CDTC
MDTC

The performance characterstics of SPMSM drive with different DTC using PI controller is
summarized in Table 2. In which the modified DTC shcemes with fast and smooth responses with torque
ripple 12.76% and %THD of stator winding phase current 31.84% as against to torque ripple 16.66% and
%THD of stator current spectrum 52.78% of Conventional DTC.

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Table 2. Performane characterstics values of SPMSM with different DTC

Type of DTC Current %THD Torque Ripple (%)
Conventional DTC 52.78% 16.66%
Modified DTC 31.84% 12.76%

5. CONCLUSION
This paper describes the modified DTC algorithm of Sourface Mounted Permanent Magnet
Synchronous Motor with PI controller which is considered with replacing of switching table selector block
and hysteresis controllers of flux and torque.The simulation results have shown that the modified DTC gives
better performance of transient and steady state operation than the conventional DTC. In fact, it has a
significant reduction of the torque and flux ripples and the flux was indirectly controlled. In addition it can be
obsevered that the percentage of THD for current spectrum is 31.84 %.It can be observed from the modified
DTC which gives the smooth speed operation during transient and steady state conditions.

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BIOGRAPHIES OF AUTHORS

Mr. D. Kiran Kumar was born on 3rd june,1984 in Guntur, A.P, India. He was graduate in
Electrical and Electronics Engineering from SCREC in 2007. He was obtained post graduate in
VLSI Design from Bharath University, Chennai in 2009.Presently he was working as Assistant
Professor in the deparment of Electrical and Electronics Engineering, JNTUH College of
Engineering hyderabad,since 2010 and persuing Ph.D at JNT University, Hyderabad . His
research interests are Electrical Drives,FACTTS, Power Quality, Multilevel Inverters and VLSI
Design.

Dr. G. Tulasi Ram Das has received his B.Tech degree in Electrical & Electronics Engineering
from J.N.T.U. College of Engineering, Hyderabad, India in 1983, M.E. degree with Industrial
Drives & Control from O.U College of Engineering, Hyderabad, India in 1986 and received his
Ph.D. degree from the Indian Institute of Technology, Madras, India in 1996. He is having 30
years of teaching and research experience. He held positions of J.N.T. University Hyderabad,
Registrar of JNT University Hyderabad, Vice-Chancellor, JNTU Kakinada and currently
Professor in EEE Department, JNTUHCEH. He has supervised 21 Ph.D. theses and 10 Ph.D.
theses are under progress. He has published/presented 152 technical research papers in national
and international conferences and journals. He has visited countries namely, Singapore,
Malaysia, USA, KSA, UAE and UK. He is a Fellow of Institute of Engineers (India), (FIE),
Fellow of Institute of Electronics & Telecommunication Engineering (FIETE), Member of IEEE
(MIEEE), Member of Solar Energy Society of India (MSESI) and Member of Indian Society for
Technical Education (MISTE). He is a recipient of “BEST TEACHER STATE AWARD FOR
THE YEAR 2009” announced by the Govt. of Andhra Pradesh. He has received the award from
the Chief Minister of Andhra Pradesh. Research Interests include: Simulation studies on drives
for Permanent Magnets Synchronous Machines, Electrical Machines & Special Machines,
Resonant Converters, FACTS, Power quality, AI applications to Power Systems and Drives.
E-mail: [email protected]

Simulation and Analysis of Modified DTC of PMSM (D. Kiran Kumar)