MODELLING AND IMPLEMENTATION OF AN IMPROVED DSVM SCHEME FOR PMSM DTC

ISSN 2349-7815
International Journal of Recent Research in Electrical and Electronics Engineering (IJRREEE)
Vol. 2, Issue 3, pp: (31-41), Month: July 2015 - September 2015, Available at: www.paperpublications.org
Page | 31
Paper Publications
MODELLING AND IMPLEMENTATION OF
AN IMPROVED DSVM SCHEME FOR
PMSM DTC
Sakunthala S
Adhoc Lecturer, Department of Electrical & Electronics Engineering,
JNTUA College of engineering Kalikiri, Chittoor (DT), AP - 517234
Abstract: A very widely used drive strategy for PMSM is the field oriented control (FOC), which was proposed in
1971 for induction motors (IMs). However, the FOC scheme is quite complex due to the reference frame
transformation and its high dependence upon the motor parameters and speed. To mitigate these problems, a new
control strategy for the torque control of induction motor was developed by Takahashi known as the direct torque
control (DTC) and by Depenbrock as the direct self control (DSC). The basic direct torque control (DTC) scheme
may cause undesired torque, flux and current ripples because of the small number of applicable voltage vectors.
The control system should be able to generate any voltage vector, implying the use of space vector modulation
(SVM) which complicates the control scheme. The discrete space vector modulation (DSVM) method was proposed
for DTC to overcome this problem which replaces the simple switching table by several switching tables, to apply a
combination of three voltage vectors in the same sampling period. In this paper, after a brief review of the primary
concept of DSVM DTC technique, a new scheme of DSVM DTC for PMSM is proposed with a new set of switching
tables taking into account the motor speed and the absolute values of torque and flux feedback errors. In one fixed
sampling time interval, three vectors are applied to the motor including the two null vectors. Comparisons of the
basic DTC and the improved DSVM DTC schemes are made based on the system performance and switching loss.
For this purpose the DSVM technique uses prefixed time intervals within a sampling cycle to synthesize a higher
number of voltage vectors than the basic DTC scheme. A set of switching table is carried out to minimize the
torque error. An optimal vector selector is developed to reduce the switching loss and make the system more
stable. The sampling period does not need to be doubled in order to achieve a mean switching frequency
practically equal to that of the basic DTC scheme. For a comparable performance, the switching loss of the
proposed scheme is less than that of the basic DTC method. The vector application sequence is investigated and an
optimal algorithm is developed to reduce the switching loss and torque ripple. Simulation and experiments on the
improved DSVM DTC are carried out and compared with those on the basic DTC scheme.
Keywords: Direct Torque Control, Discrete Space Vector Modulation, Field Oriented Control, Fuzzy Logic Cont
roller, Permanent Magnet Synchronous Machine, Space Vector Modulation, Switching Table.
I. INTRODUCTION
The permanent magnet synchronous motor (PMSM) has found wide applications due to its high power density
(Compactness)., high efficiency, high torque-to-inertia ratio, and high reliability. A very widely used drive strategy for
PMSM is the field oriented control (FOC), which was proposed by Blaschke in 1971 for induction motors (IMs) [1].
However, the FOC scheme is quite complex due to the reference frame transformation and its high dependence upon the
motor parameters and speed. To mitigate these problems, a new control strategy for the torque control of induction motor
was developed by Takahashi known as the direct torque control (DTC) [2] and by Depenbrock as the direct self control
(DSC)[3]. The basic idea of DTC for induction motor is to control the torque and flux linkage by selecting the voltage
space vectors properly, which is based on the relationship between the slip frequency and torque. It has been proven that

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Paper Publications
the DTC scheme for induction motors could be modified for PMSM drive. Since it does not require any current regulator,
coordinate transformation and PWM signal generator, the DTC scheme has the advantages of simplicity, good dynamic
performance, and insensitivity to motor parameters except the stator winding resistance. Compared with the FOC, the
major drawback of the DTC method is the large ripples of torque and flux linkage. The switching state of the inverter is
updated only once in every sampling interval. The inverter keeps the same state until the output of the hysteresis
controller changes state, resulting in relatively large torque and flux ripples. Another unwanted feature is the non-constant
inverter switching frequency, which changes with the rotor speed, load torque and bandwidth of the two hysteresis
controllers. In the past few years, many attempts were carried out to overcome these problems. Fixed switching frequency
and reduction of torque ripple could be obtained by calculation of the stator flux vector variation required to exactly
compensate the flux and torque errors. The control system should be able to generate any voltage vector, implying the use
of space vector modulation (SVM) which complicates the control scheme. On the other hand, a discrete SVM (DSVM)
method was proposed to improve the DTC scheme, which replaces the simple switching table by several switching tables,
to apply a combination of three voltage vectors in the same sampling period [4]. The torque and flux ripple could be
reduced with small calculation cost although the switching frequency of inverter is still variable. In this paper, the DSVM
DTC of PMSM is reviewed and the choice of null-vectors and the vector selection sequence are modified to improve the
performance and reduce the inverter switching loss. Comparisons of the basic DTC and the improved DSVM DTC
schemes are made based on the system performance and switching loss. The novel DSVM DTC scheme is also
experimentally tested and the results show improvements in both steady state and dynamic performance
II. PMSM MODEL AND DTC
The Permanent Magnet Synchronous Motor (PMSM) has numerous advantages over other machines that are
conventionally used for ac servo drives. The stator current of the induction motor (IM) contains magnetizing as well as
torque-producing components. The use of the permanent magnet in the rotor of the PMSM makes it unnecessary to supply
magnetizing current through the stator for constant air-gap flux; the stator current need only be torque producing. Hence
for the same output, the PMSM will operate at a higher power factor (because of the absence of magnetizing current).and
will be more efficient than Induction Motor. The development of the PMSM was to remove the foregoing disadvantages
of the Synchronous Motor by replacing its field coil, DC power supply and slip rings with a permanent magnet.
Model of the Permanent Magnet Synchronous Motor:
The two axes PMSM stator windings can be considered to have equal turn per phase. The rotor flux can be assumed to be
concentrated along the d axis while there is zero flux along the q axis, an assumption similarly made in the derivation of
indirect vector controlled induction motor drives. Also, rotor flux is assumed to be constant at a given operating point.
There is no need to include the rotor voltage equation as in the induction motor since there is no external source connected
to the rotor magnet and variation in the rotor flux with respect to time is negligible. The stator equations of the induction
machine in the rotor reference frames using flux linkages are taken to derive the model of the PMSM. The rotor reference
frame is chosen because the position of the rotor magnets determine independently of the stator voltages and currents, the
instantaneous induced emf and subsequently the stator currents and torque of the machine. In Induction motor, the rotor
fluxes are not independent variables, they are influenced by the stator voltage and currents and that is why any frame of
reference is suitable for the dynamic modeling of the induction machine.
The well-known voltage equations in the rotor reference frame are as follows:
υd= Rd id + d ψd- ωrψq ( 1 )
dt
υq= Rqiq+ d ψq+ ωrψd ( 2 )
dt
Where Rd and Rq are the quadrature and direct-axis winding resistances which are equal and be referred to as Rs is the
stator resistance. To compute the stator flux linkage in the q and d axes, the current in the stator and rotor are required.
The permanent magnet excitation can be modeled as a constant current source, if. The rotor flux along d axis, so the d axis
rotor current is if. The q axis current in the rotor is zero, because there is no flux along this axis in the rotor, by
assumption.

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Then the flux linkage are written as
ψd = Ldid + Lm If ( 3 )
ψq = Lqiq ( 4 )
Where Lm is the mutual inductance between the stator winding and rotor magnets Substituting these flux linkages into the
stator voltage equations gives the stator equations:
υq= Rsiq+ ωr(Ldid + ψf) + ρLqiq ( 5 )
υd= Rsid - ωrLqiq+ ρ( Ldid + ψf) Rd + Ldid ( 6 )
Te = ( ψdiq- ψqid ) ( 7 )
Which upon substitution of the flux linkages in terms of the inductances and current yields
Te = P ( ψfiq+ (Ld- Lq) iqid ) ( 8 )
The implementation of Direct Torque Control System:
The basic DTC scheme is indicated in figure1, torque and flux signals are obtained from the estimator. These are
regulated by using two hysteresis controllers. The hysteresis controllers outputs in turn switch the three inverter legs,
applying a set of voltage vectors across the motor.
Fig. 1: Block Diagram for basic DTC of PMSM
In the DTC there are no extra sensors needed compared to FOC except the dc-bus voltage sensors. The continuous rotor
position which is essential for torque control in the FOC is not required if the initial rotor position is known.
Flux and Torque Estimator:
Flux and torque estimator are used to determine the actual value of the torque and flux linkage. Into this block enters the
VSI voltage vector transformed to the qd-stationary reference frame.
The stator flux linkage is estimated by taking the integral of difference between the input voltage and the voltage drop
across the stator resistance as,
ψd = ∫ (υd - Rsid ) dt
ψq = ∫ (υq - Rsiq ) dt (9)
The flux linkage phasor is given by
ψs = √(ψd
2
+ ψq
2
) (10)

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In this block, the location of stator flux linkage (θ) is determined by the load angle (δ) i.e the angle between the stator and
rotor flux linkage. The load angle must be known so that the DTC can choose an appropriate set of vectors depending on
the flux location. The load angle can be determined by:
=tan-1
(11)
The electromagnetic torque can be estimated with;
Te = 3 P ( ψd iq - ψq id ) (12)
2
Torque and Flux Hysteresis Comparator:
The estimated torque and stator flux linkage are compared with the reference torque and stator flux linkage. The
difference between reference and estimated value is compared in this figure 2&3. If the actual torque is smaller than the
reference value, the comparator output at state 1 or otherwise.
Figure 2: 3-level torque hysteresis comparator
Figure 3: 2-level flux hysteresis comparator
The control of the rotation of stator flux linkage (ψs ):
When the zero voltage vectors are selected the stator flux linkage vector will be standstill in the position where it was and
the electromagnetic torque will decrease rapidly. In a PMSM, however, the stator flux linkage is jointly determined by
both the stator voltage and the rotor magnet flux. Since the permanent magnets rotate all the time, the stator flux linkage
still exists even if the zero voltage vectors are used, and as a result, the zero voltage vectors will only cause the torque
decrease slightly. An inverse voltage vector is normally selected to reduce the torque rapidly. The zero voltage vectors are
not used for controlling the stator flux linkage. Thus ψs should always be in motion with respect to rotor flux linkage.
eT eT
s s
0thenIf
1thenIf
*
*






S
S
sss
sss
0thenIf
1thenIf
*
*


Tee
Teee
STT
STTT
0thenIf
1thenIf
*
*


Tee
Teee
STT
STTT

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The electromagnetic torque can be controlled effectively by controlling the amplitude and rotational speed of the stator
flux linkage. For counter-clockwise operation, if the actual torque is smaller than the reference, the voltage vector that
keeps ψs rotating in the same direction are selected. The angle δ increases as fast as it can, and the actual torque increases
as well. Once the actual torque is greater than the reference, the voltage vectors that keep ψs rotating in the reverse
direction are selected instead of the zero voltage vectors. The angle δ decreases, and the torque decreases also.
By selecting the voltage vectors in this way, the stator flux linkage (ψs) is rotated all the time and its rotational direction is
determined by the output of the hysteresis controller for the torque.
The switching table for controlling the amplitude and rotating direction of ψs is as below and is used for both directions of
operations. In Table 1, φ and τ are the outputs of the hysteresis controllers for the flux linkage and torque, θ1 - θ6 denote
the section of the space vector plane where the present flux linkage vector is located, V1 - V6 are the voltage vectors to be
selected. This table formed the control strategy for DTC of PMSM.
If the φ = 1, then the actual flux linkage is smaller than the reference value. The same is true for the torque.
Table 1: The Switching table for Inverter
Flux

Torque
τ
-Section (stator flux linkage position)
1 2 3 4 5 6
 = 1 τ = 1 V2(110) V3(010) V4(011) V5(001) V6(101) V1(100)
τ = 0 V6(101) V1(100) V2(110) V3(010) V4(011) V5(001)
 = 0 τ=1 V3(010) V4(011) V5(001) V6(101) V1(100) V2(110)
τ=0 V5(001) V6(101) V1(100) V2(110) V3(010) V4(011)
III. DISCRETE SPACE VECTOR MODULATION (DSVM)
Although this technique can clearly reduce the torque and flux ripples, more than six vectors directions are necessary to
achieve a decoupled control of flux and torque of the machine. The simple switching table replaced by several switching
tables, obtaining a combination of three voltage vectors into the same sampling period, which is called Discrete Space
Vector Modulation(DSVM).
Fig 4: Block diagram of improved DSVM DTC scheme (proposed system)
Discrete SVM for DTC:
To reduce the switching frequency, algorithms based on discrete space vector modulation (DSVM) technique was
developed, using prefixed time intervals within a cycle period. In this way a higher number of voltage space vectors can
be synthesized compared to those used in the basic DTC technique. The increased number of voltage vectors allows the
definition of more accurate switching tables in which the selection of voltage vectors is made according to the rotor speed,
the flux error and the torque error. As shown in Fig. 5, three equal time intervals are used in one cycle period. In each
sampling period the voltage vector is selected once only, as in the basic DTC scheme.

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The advantage of using the DSVM technique is that one can choose among 19 voltage vectors instead of 5 of the basic
DTC. On the other hand, at different speed ranges, the same vectors produce torque. Variations with quite different
absolute values. This behaviour determines different torque ripple at low and high speeds. In the reported DSVM scheme,
a set of new switching tables were established with the help of the multi-level torque hysteresis comparator and also
considering the rotor speed range.
Fig. 5: Voltage Vectors Obtained by Using DSVM
Design of Fuzzy Logic controller:
Once fuzzy system is created using command line functions, can be directly embedded into SIMULINK using the Fuzzy
Logic Controller block. In fuzzy Logic Controller design we relate the inputs with different rules for different
membership functions.
Fig 6: Fuzzy Logic Controller Block
IV. SIMULATION AND RESULT ANALYSIS
The simulation models are presented and the results are discussed. The PMSM parameter used in this project are given in
Table 2.
Table 2: Parameter Values of PMSM used in Simulation
Resistance R (ohm) 0.4Ω
Inductance [Ld,]H 8.72 x10-3 H
Inductance [Lq,]H 22.8 x10-3H
Flux Induced by magnets[wb] 0.108
Inertia[Jkgm^2] 3.8 x10-3
Friction factor 0.1 x 10-4
Pairs of pole 4
Simulink block of the DSVM DTC for PMSM:
The simulink block for improved DSVM DTC scheme with fuzzy controller This method was proposed to improve the
DTC scheme, which replaces the simple switching table by several switching tables to apply a combination of three
voltage vectors in the same sampling period.

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Fig 7: Simulink Block Diagram of DSVM DTC for PMSM
Simulation Results:
Matlab/Simulink models were developed to examine the basic SVM based Direct Torque Control for Permanent Magnet
Synchronous Motor and improved Discrete Space Vector Modulation (DSVM) for Permanent Magnet Synchronous
Motor. The waveforms are flux linkage, torque and speed respectively. The torque given is 10Nm to -10Nm and the stator
flux linkage is set at the rated value 0.182Wb. Presents the comparison of basic SVM based DTC of PMSM and DSVM
based DTC of PMSM performance at the same torque and flux. An appreciable reduction of torque and speed ripples has
been obtained by using the DSVM technique.
Fig 8:Steady state performance of basic DTC for PMSM with constant load at speed 100rpm.
Fig 9:Steady state performance of basic DTC for PMSM with constant load at torque 10Nm.

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Fig 10:Steady state performance of DSVM DTC for PMSM with constant load at speed 100rpm.
Fig 11:Steady state performance of DSVM DTC for PMSM with constant load at torque 10Nm.
Fig 12:Steady state performance of basic DTC for PMSM with constant load at speed 1000 rpm.
Fig 13: Steady state performance of basic DTC for PMSM with constant load at torque 10Nm.

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Fig 14 :Steady state performance of DSVM DTC for PMSM with constant load at speed 1000rpm.
Fig 15:Steady state performance of DSVM DTC for PMSM with constant load at torque 10Nm.
Fig 16:Performance of basic DTC for PMSM with variable load at speed 1000rpm and sampling period of 60μs.
Fig 17:Performance of basic DTC for PMSM with variable load at torque 5Nm and sampling period of 60μs.

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Fig 18:Performance of DSVM DTC for PMSM with variable load at speed 1000rpm and sampling period of 75μs.
Fig 19:Performance of DSVM DTC for PMSM with variable load at torque 5Nm and sampling period of 75μs.
Fig 20:Performance of basic DTC for PMSM with variable load at speed 1000 rpm and sampling period of 60μs.
Fig 21:Performance of basic DTC for PMSM with variable load at torque 5Nm and sampling period of 60μs.

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Fig 22:Performance of DSVM DTC for PMSM with variable load at speed 1000rpm and sampling period of 75μs.
Fig 23:Performance of DSVM DTC for PMSM with variable load at torque 5Nm and sampling period of 75μs.
V. CONCLUSION
The DSVM DTC method is designed to modify the basic DTC control scheme to improve the performance of PMSM
drive system with significant reduction of torque and flux ripples without using any complicated control algorithms. For
this purpose the DSVM technique uses prefixed time intervals within a sampling cycle to synthesize a higher number of
voltage vectors than the basic DTC scheme.
A set of switching table is carried out to minimize the torque error. An optimal vector selector is developed to reduce the
switching loss and make system more stable. The sampling period does not need to be double in order to achieve a mean
switching frequency practically equal to that of the basic DTC scheme.
REFERENCES
[1] F. Blaschke, “The principle of field orientation as applied to the new TRANSVECTOR closed loop control system
for rotating field machines,” Siemens Review, Vol. 39, No. 5, pp. 217-220, 1972.
[2] I. Takahashi and T. Noguchi, “A new quick-response and high-efficiency control strategy of an induction motor,”
IEEE Trans. Ind. Appl., Vol. 22, No. 5, pp. 820-827, Sep./Oct. 1986.
[3] M. Depenbrock, “Direct self-control (DSC) of inverter-fed induction machine,” IEEE Trans. Power Electronics,
Vol. 3, No. 4, pp. 420-429, Oct. 1988.
[4] D. Casadei, G. Serra and A, “Tani. Implementation of a direct torque control algorithm for induction motors based
on discrete space vector modulation,” IEEE Trans. Power Electronics, Vol. 15, No. 4, pp. 769-777, Jul. 2000.
[5] D. Ocen, L. Romeral, J. A. Ortega, J. Cusido and A. Garcia, “Discrete space vector modulation applied on a PMSM
motor,” Proc. 12th Int. Power Electronics and Motion Control Conf., Portoroz, Slovenia, pp. 320-325, Aug. 2006.

MODELLING AND IMPLEMENTATION OF AN IMPROVED DSVM SCHEME FOR PMSM DTC

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