A Low-Cost SVM-DTC Strategy of Induction Machine Drives Using Single

Current Sensor

Wei Wang1, Ming Cheng1, Wei Hua1, Shichuan Ding1, Ying Zhu1, Wenxiang Zhao2
1 School of Electrical Engineering, Southeast University, China
2 School of Electrical and Information Engineering, Jiangsu University, China
E-mail: [email protected]

Abstract — In the conventional direct torque control (DTC) then, the estimated phase currents are adjusted by the sensed
using space-vector modulation (SVM) of induction machine dc-link current. In [18], the space vector PWM algorithm of
(IM) drives, at least three current sensors are needed. In this the permanent magnet synchronous motor servo drives is
paper, a low-cost SVM-DTC strategy is proposed, in which only accomplished by single dc-link current sensor.
single current sensor is used. The position of voltage space The purpose of this paper is to propose a low-cost but
vector is divided into two areas: effective and non-effective area.
If it is located in the non-effective area, the voltage space vector high-performance SVM-DTC strategy using single dc-link
will be shifted into the effective area with minimum distortion. current sensor. In the proposed strategy, the position of the
And the switching frequency keeps constant. The simulation is voltage space vector is divided into two areas: effective and
carried out on MATLAB/Simulink platform and the simulated non-effective area. If it is located in the non-effective area,
results verify the effectiveness of the proposed strategy. the voltage space vector will be simply shifted to the effective
Index Terms—Direct torque control (DTC), single current
area. In the shifting procedure, the switching frequency of
sensor, induction machines.
the inverter keeps constant. Simulated results, based on
I. INTRODUCTION MATLAB/Simulink, will be presented to demonstrate the
validity of the proposed strategy. In this paper, the analysis is
D TC was proposed in the mid 1980s [1]-[2]. Due to the
advantages of simple structure, quick torque response
and robustness, DTC has received a lot of attention in the
focused on an IM while other machine types can be analyzed
in the similar method.
literature [3]-[8] and widely used in the fields requiring fast
torque response, such as electric traction drives of rail transit.
In nature, DTC accomplishes the closed-loop control of the
stator flux magnitude and the electromagnetic torque without
current regulators and rotor position information. As is
known, the conventional DTC needs the signals of phase
currents and dc-link voltage, together with the states of the
inverter switches. In other words, two current sensors and
one voltage sensor are necessary to the realization of the
conventional DTC. Additionally, one extra current sensor is
always mounted in the dc-link for over current protection. (a)
The conventional DTC scheme is shown in Fig. 1(a).
However, the use of sensors tends to degrade the reliability of
the drive system; on the other hand, the cost reduction is one
of various efforts for widening the applications of motor
drives. Therefore, many efforts are made to minimize the
number of current sensors to control electric machines. In
[9]-[13], several current-sensorless methods are presented.
Although the cost of corresponding drive systems are
reduced significantly, these current-sensorless methods base
on accurate electric machine models, which weaken the
robustness of corresponding drive systems. Since the dc-link (b)
current reflects one of the three phase currents if the inverter Fig. 1. Three phase AC machine drive. (a) Using three current sensors. (b)
Using single current sensor.
uses the active voltage space vectors, several single-current-
based methods of motor drives are presented [14]-[18], and
II. PROPOSED STRATEGY
the most typical drive system is shown in Fig. 1(b). In [15], a
DTC scheme using single dc-link current sensor is A. Basic Concept of SVM-DTC
introduced. However, the scheme works well only when the
In this paper, stator vectors are obtained by the
switching frequency of the inverter is high. In [16], another
coordinate transformation from the three-phase stationary
single-current-based DTC scheme is presented: firstly, phase
coordinate abc to the two-axis stationary coordinate α-β with
currents are estimated by the model of an induction motor;
the axis aligned along the Phase-A of the stator. 3
p nψ s is sin δ
Te = (7)
Current Vector Calculator computes is by 2
j
2π
j
4π where δ is the angle between ψ s and is . Because the stator
2
is = (i as + ibs e 3 + i cs e 3 ) (1) flux magnitude ψ s is kept nearly constant and the stator
3
where ias and ibs are the sensed Phase-A and Phase-B current magnitude i s can’t be suddenly changed, quick
current, and Phase-C current ics is determined by response of the electromagnetic torque only can be
implemented by changing δ . In fact, the change of δ can
ics = −(ias + ibs ) (2)
be achieved by rotating the stator flux, as is shown in Fig. 3.
where the stator windings are connected in the “Y” shape. β −is RsTs
Voltage Vector Calculator computes u s by
j j
2π 4π ψ *s
2 U ref Ts
u s = u dc ( sa + sb e 3 + sc e 3 ) (3)
3 Δψ s
where u dc is the sensed dc-link voltage, and sa, sb, sc are the ψs
states of the upper switches of the inverter (s=1 means switch
closed and s=0 means switch open). Δδ θ is
Flux&Torque Estimator aims to acquire the stator flux
δ
vector ψ s and the electromagnetic torque Te . ψ s is given
by α ( A)

∫
ψ s = (u s − is Rs ) dt Fig. 3. Diagram of the rotation of stator flux.
(4)
where Rs is the stator resistance. The stator flux magnitude From Fig. 3, the variation of the stator flux Δψ s can be
ψ s and the electromagnetic torque Te can be calculated by derived by
⎧⎪Δψ αs = ψ s* cos(θ + Δδ ) − ψ s cos θ
ψ s = ψ α2s + ψ β2s (5)
⎨ (8)
⎪⎩Δψ βs = ψ s sin(θ + Δδ ) − ψ s sin θ
*
3
p n (ψ αs iβs −ψ βs iαs )
Te = (6)
2 where ψ s* ,θ and Δδ is the reference of the stator flux
where pn is pole pairs of IM, ψ s = ψ α s + jψ βs , is = iαs + ji βs .
magnitude, the phase angle of ψ s and the variation of δ ,
B. Basic Concept of Voltage Space Vector respectively; Δψ s = Δψ αs + jΔψ βs .
There are eight voltage space vectors, including six By (4) and (8), the reference of the stator voltage U ref is
active voltage space vectors ( U1 - U 6 ) and two zero voltage calculated by
space vectors ( U 0 , U 7 ). They are labeled with the switch ⎧uαs = ( Δψ αs + Rs iαs ) / Ts
⎨ (9)
states (sa, sb, sc) and listed in TABLE I. The distribution of ⎩u β s = ( Δψ βs + Rs i βs ) / Ts
voltage space vectors is illustrated in Fig. 2. ⎧U = (u ) 2 + (u ) 2
TABLE I ⎪ ref αs βs
VOLTAGE SPACE VECTORS
⎨ (10)
⎪⎩γ = ∠U ref
SV U0 U1 U2 U3 U4 U5 U6 U7
where Ts is the switching period, γ is the phase angle of
sasbsc 000 100 110 010 011 001 101 111
U ref . In this paper, six sectors are defined as following
U 3 (010) U 2 (110)
⎧SectorI : 0 <= θ < π / 3
⎪SectorII : π / 3 <= θ < 2π / 3
II ⎪
⎪⎪SectorIII : 2π / 3 <= θ < π
III ⎨ (11)
⎪SectorIV : π <= θ < 4π / 3
I

⎪SectorV : 4π / 3 <= θ < 5π / 3

U 4 (011) U1 (100) ⎪
⎪⎩SectorVI : 5π / 3 <= θ < 2π
IV VI
which is shown in Fig. 2. U ref is located in one sector
V U 0 (000) determined by γ . Based on the theory of space vector, U ref
U 7 (111)
can be synthesized by two nearest active voltage space
U 5 (001) U 6 (101) vectors ( U k , U k +1 ) and two zero voltage space vectors
Fig. 2. Distribution diagram of both voltage space vectors and sectors.
( U 0 , U 7 ), as illustrated in Fig. 4.
(6) can be rewrote as
 U k +1 Tmin 1 = Tdead + Tset + TAD (14)
where Tdead , Tset and TAD are the dead time of the inverter,
the setup time of the dc-link current and the converting time
Tk +1
U k +1 U ref of the A/D converter, respectively. Besides, to keep the
Ts
switching frequency constant, T0 has a minimum value
defined as Tmin 2 . Therefore, U ref is limited by
ϕ
Uk ⎧Tk > 2Tmin 1
⎪
Tk
Uk ⎨Tk +1 > 2Tmin 1 (15)
Ts ⎪T > T
⎩ 0 min 2
Fig. 4. Synthesization of U ref . And the effective area of U ref is represented by the white
part in Fig. 6.
And the acting times of SVs are calculated by
U ref = (TkU k + Tk +1U k +1 ) / Ts (12) U 3 (010) U 2 (110)

⎧Tk = 3TsU ref sin(60 o − ϕ ) / u dc

⎪ II
⎪
⎨Tk +1 = 3TsU ref sin ϕ / u dc (13)
III
⎪ I
⎪⎩T0 = Ts − Tk − Tk +1
U 4 (011) U1 (100)
where ϕ is the modulus after division of γ and 60o ; Tk ,
IV VI
Tk +1 , T0 are the acting time of U k , U k +1 , zero voltage
space vectors, respectively. The switch states are optimized V
to be center symmetric and illustrated in Fig. 5.
U 5 (001) U 6 (101)
T0 Tk Tk +1 T0 Tk +1 Tk T0
Fig. 6. Effective area (white) and non-effective area (red).
4 2 2 2 2 2 4
If it is in the non-effective area represented by the shaded
area in Fig. 6, U ref is shifted into the effective area by Fig. 7.

III. IMPLEMENTATION
U 0 U k U k +1 U7 U k +1 U k U0 For the validation of the proposed DTC scheme, a
Fig. 5. Output timing of switch states. simulation platform based on Matlab/Simulink was
developed, as is shown in Fig. 8. A 150V DC source is
C. Using single current sensor supplied and an IGBT-inverter-fed IM is used. The inputs of
the DTC controller includes: 1) sample values of the signals
When the inverter applies an active voltage space vector
coming from the sensors of current and voltage in the dc-link;
to the IM, one stator phase is connected in series to the dc- 2) feedback value of the motor speed. And the switch states
link rail of the inverter, either to the positive or to the are exported from the DTC controller to drive the inverter.
negative polarity, whereas the other two phases are Parameters of the simulation platform are listed in TABLE
connected in parallel to the opposite polarity. The in-series IV.
phase can be easily identified from the states of the upper
switches of the inverter, and the current flowing in this
phase is either equal or opposite to the dc-link current as TABLE III
PARAMETERS OF IM
illustrated in TABLE II.
Parameter Value
TABLE II
Rated power Pe 5.5 kW
DC-LINK IN-SERIES STATOR PHASE CURRENT VERSUS SPACE VECTORS
Rated phase voltage Vrms 220 V
U1 U2 U3 U4 U5 U6 Rated rotation speed Nn 1450 r/mim
ias=idc ics=-idc ibs=idc ias=-idc ics=idc ibs=-idc Stator resistance R1 0.628 Ω
Rotor resistance R 2 1.192 Ω
Stator self-inductance L11 5.668 mH
However, the selected active voltage space vector must be Rotor self-inductance L22 5.668 mH
used long enough to ensure a proper sampling of the dc-link Mutual inductance Lm 163.9 mH
Pole pairs pn 2
current. The minimum acting time Tmin 1 is given as Inertia J 0.2674 kg·m2
Friction factor δ 0.0016 N·m·s
 TABLE IV 0.01 s. The simulated results of tests are illustrated in Fig. 9
PARAMETERS OF SIMULATION PLATFORM
and Fig. 10 respectively.
Parameter Value
Dead time 5 μs No matter steady or transient process, the estimated
Switching frequency 20 kHz Phase-A current iase
always matches the measured Phase-A
Sampling frequency 20 kHz
m
current ias well, seen in Fig. 9(a) and Fig. 10(a). Both the
A test has been executed on the platform to evaluate the steady-state and transient torques are well controlled and
steady and transient performances of the proposed DTC
reported in Fig. 9(b) and Fig. 10(b). Besides, the stator flux
scheme. In the test, the stator flux magnitude of IM is
controlled at 0.5 Wb and the motor is operated at 500 r/min. is also well controlled shown in Fig. 9(c) and Fig. 10(c).
In t=3.5s, a torque disturbance of -10 Nm is added and kept

Fig. 7. Flow chart of shifting algorithm.

1-Three phase voltage source 5-IM 7

2-Rectifier 6-Load
3-Capacitor 7-DTC controller DTC Controller
4-Inverter Load 6

Tm
Udc&idc Pulses
A A + + A A
B B B B Speed
3
C C - - C C

5
1 2 4

Fig. 8. Block diagram of simulation platform.

 (a)
20
Measured Value Estimated Value 15
10 10
Current (A)

Torque (Nm)
0 5
0
-10 -5
-20 -10
0.0 0.5 1.0 1.5 2.0 2.5 3.0 -15
3.40 3.45 3.50 3.55 3.60 3.65 3.70
Time (s)
(a) Time (s)
(b)
12
0.6
10
0.5
Torque (Nm)

8
0.4

Flux (Wb)
6
0.3
4
0.2
2
0.1
0
0.0 0.5 1.0 1.5 2.0 2.5 3.0 0.0
3.40 3.45 3.50 3.55 3.60 3.65 3.70
Time (s)
(b) Time (s)
(c)
0.6
520
0.5
0.4 510
Flux (Wb)

Speed (RPM)

0.3
500
0.2
0.1 490
0.0
0.0 0.5 1.0 1.5 2.0 2.5 3.0 480
3.40 3.45 3.50 3.55 3.60 3.65 3.70
Time (s)
(c) Time (s)
(d)
600 Fig. 10. Transient performances. (a) Current; (b) Electromagnetic torque; (c)
Stator flux; (d) Speed.
500
Speed (RPM)

400
300
IV. CONCLUSION
200
100 In this paper, a low-cost SVM-DTC strategy of IM drives
with single current sensor has been proposed. A simple
0
0.0 0.5 1.0 1.5 2.0 2.5 3.0 shifting scheme has been developed to ensure that all voltage
space vectors can be shifted into effective area with
Time (s) minimum distortion. Additionally, the switching frequency
(d)
Fig. 9. Steady performances. (a) Current; (b) Electromagnetic torque; (c) Stator keeps constant. The steady-state and transient performances
flux; (d) Speed. of the motor drive have been analyzed by simulation and the
10 results confirm the effectiveness of the proposed strategy.
Measured Value Estimated Value
5
Current (A)

ACKNOWLEDGMENT
0
This work was supported in part by the Program
-5 Sponsored for Scientific Innovation Research of College
Graduate in Jiangsu Province, China and the National
-10 Natural Science Foundation of China (Project 50907031).
3.40 3.45 3.50 3.55 3.60 3.65 3.70
Time (s)
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