IJSTE - International Journal of Science Technology & Engineering | Volume 3 | Issue 09 | March 2017

ISSN (online): 2349-784X

Modeling of Direct Torque Control (DTC) of

BLDC Motor Drive
Addagatla Nagaraju Akkela Krishnaveni
Lecturer Lecturer
Department of Electrical Engineering Department of Electrical Engineering
Government Polytechnic, Station Ghanpur, Warangal, Dr. B.R. Ambedkar Government Polytechnic, for Women,
Telangana, India Karimnagar, Telangana, India

Abstract
Multilevel The position sensor-less direct torque and indirect flux control of brushless dc (BLDC) motor with non-sinusoidal
back electromotive force (EMF) has been extensively investigated. In the literature, several methods have been proposed for
BLDC motor drives to obtain optimum current and torque control with minimum torque pulsations. Most methods are
complicated and do not consider the stator flux linkage control, therefore, possible high-speed operations are not feasible. In this
study, a novel and simple approach to achieve a low-frequency torque ripple-free direct torque control (DTC) with maximum
efficiency based on dq reference frame is presented. The proposed sensorless method closely resembles the conventional DTC
scheme used for sinusoidal ac motors such that it controls the torque directly and stator flux amplitude indirectly using d-axis
current. This method does not require pulse width modulation and proportional plus integral regulators and also permits the
regulation of varying signals. Furthermore, to eliminate the low-frequency torque oscillations, two actual and easily available
line-to-line back EMF constants (kba and kca) according to electrical rotor position are obtained offline and converted to the dq
frame equivalents using the new line-to-line parks transformation. Then, they are set up in the look-up table for torque
estimation. The validity of the proposed sensor-less three-phase conduction DTC of BLDC motor drive scheme are verified
through simulations results.
Keywords: Direct torque control (DTC) permanent magnet synchronous motor (PMSM), brushless DC motor (BLDC)
________________________________________________________________________________________________________

I. INTRODUCTION

The permanent-magnet synchronous motor (PMSM) and brushless dc (BLDC) motor drives are used extensively in several high-
performance applications, ranging from servos to traction drives, due to several distinct advantages such as high-power density,
high efficiency, large torque to inertia ratio, and simplicity in their control. In many applications, obtaining a low-frequency
ripple-free torque and instantaneous torque and even flux control are of primary concern for BLDC motors with non-sinusoidal
back electromotive force (EMF). A great deal of study has been devoted to the current and torque control methods employed for
BLDC motor drives. One of the most popular approaches is a generalized harmonic injection approach by numerical
optimization solutions to find out optimal current waveforms based on back EMF harmonics to minimize mutual and cogging
torque. Those approaches limit Fourier coefficients up to an arbitrary high harmonic order due to calculation complexity.
Moreover, obtaining those harmonics and driving the motor by pulse width modulation (PWM) method complicates the real-time
implementation. Optimal current references are not constant and require very fast controllers especially when the motor operates
at high speed. Moreover, the bandwidth of the classical proportional plus integral (PI) controllers does not allow tracking all of
the reference current harmonics. Since the torque is not controlled directly, fast torque response cannot be achieved. Also, the
rotor speed is measured by an expensive position sensor.

Speed Control of Induction Motor

The various methods available for the speed control of squirrel cage induction motor through semiconductor devices are given as
under:
1) Scalar control.
2) Vector control (Field-Oriented Control, FOC).
3) Direct Torque Control (DTC).
4) AI based control.

II. SCALAR CONTROL

Despite the fact that Voltage-Frequency (V/f) is the simplest controller, it is the most widespread, being in the majority of the
industrial applications. It is known as a scalar control and acts by imposing a constant relation between voltage and frequency.
The structure is very simple and it is normally used without speed feedback. However, this controller does not achieve a good

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 Modeling of Direct Torque Control (DTC) of BLDC Motor Drive
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accuracy in both speed and torque responses, mainly due to the fact that the stator flux and torque are not directly controlled.
Even though, as long as the parameters are identified, the accuracy in the speed can be 2% (expect in a very low speed), and the
dynamic response can be approximately around 50ms.

III. DIRECT FIELD-ORIENTED CURRENT CONTROL

Figure 3.2 shows a direct field oriented control scheme for torque control using a current-regulated PWM inverter. For field
orientation, controlling stator current is more direct than controlling stator voltage; the later approach must allow for the
additional effects of stator transient inductances. With adequate dc bus voltage and fast switching devices, direct control of stator
current can be readily achieved. The direct method relies on the sensing of air gap flux, using specially fitted search coils or Hall-
effect devices. The drift in the integrator associated with the search coil is especially problematic at very low frequencies. Hall
devices are also temperature-sensitive and fragile.

Direct field-oriented control of a current regulated PWM inverter induction motor drive.

MODELLING OF DIRECT TORQUE CONTROL (DTC) OF BLDC MOTOR DRIVE

In a DTC drive, flux linkage and electromagnetic torque are controlled directly independently by the selection of optimum
inverter switching modes. The selection is made to restrict the flux linkages and electromagnetic torque errors within the
respective flux and torque hysteresis bands. The required optimal switching vectors can be selected by using so-called optimum
switching-voltage vector look-up table. This can be obtained by simple physical considerations involving the position of the
stator-flux linkage space vector, the available switching vectors, and the required torque flux linkage

TORQUE EXPRESSIONS WITH STATOR AND ROTOR FLUXES

The torque expression for induction machine can be expressed in vector form as,
3 P
Te = ( ) s Is (1)
2 2
Where s = sqs jsds and Is = s
Iqs s
jIds . In this equation, Is is to be replaced by rotor flux r . In the complex form, s and
r can be expressed as function of currents as,
s = L s Is + L m Ir (2)
r = L r Ir + L m Is (3)

Eliminating
I r from equation (4.2), we get
Lm
s = r + Ls Is (4)
Lr
2
Where Ls = Ls Lr Lm . The corresponding expression of Is is
L L
Is = m s m r (5)
Ls Lr Ls
Substituting equation (4.5) in (4.1) and simplifying yields

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3 P Lm
Te = ( ) r s (6)
2 2 Lr Ls
That is, the magnitude torque is
3 P Lm
Te = ( ) |r ||s | sin (7)
2 2 Lr Ls

Fig. 1: Stator flux, rotor flux, and stator current vectors on d s-qs plane (stator resistance neglected)

Where is the angle between the fluxes. Figure 4.1 shows the phasor (or vector) diagram for equation (4.6), indicating the
vectors s , r , and Is for positive developed torque. If the rotor flux remains constant and stator flux is changed incrementally
by stator voltage Vs as shown and the corresponding change of angle is , the incremental torque Te expression is given as
3 P L
Te = ( ) m |r ||s + s | sin (8)
2 2 Lr Ls

IV. CONTROL STRATEGY OF DTC

The block diagram of direct torque control is shown in Figure 4.2 and Figure 4.3 explains the control strategy. The command
and torque Te magnitudes are compared with the respective estimated values and the errors are processed
stator flux s
through hysteresis-band controllers, as shown. The flux loop controller has two levels of digital output according to the following
relations:
H = 1 for E > +HB (9)
H = 1 for E < HB (10)
Where 2HB = total hysteresis-band width controller. The circular trajectory of the command flux vector with the

hysteresis band rotates in an anti-clockwise direction as shown in Figure 4.3(a). The actual stator flux is constrained within
the hysteresis band and it tracks the command flux in a zigzag path. The torque control loop has three levels of digital output,
which have the following relations:
HTe = 1 for ETe > +HBTe (4.11)
HTe = 1 for ETe < HBTe (4.12)
HTe = 0 for HBTe < ETe < +HBTe (13)
The feedback flux and torque are calculated from the machine terminal voltages and currents. The signal computation block
also calculates the sector number S(k) in which the flux vector lies. There are six sectors (each /3 angle wide), as in Figure
3(a).

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 Modeling of Direct Torque Control (DTC) of BLDC Motor Drive
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Fig. 2: Direct torque control (DTC) block diagram

Fig. 4.3: (a) Trajectory of stator flux vector in DTC control,

Fig. 4.3: (b) Inverter voltage vectors and corresponding stator flux variation in time t.

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 Modeling of Direct Torque Control (DTC) of BLDC Motor Drive
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The voltage vector table block in Figure 4.2 receives the input signals H , HTe , and S(k) and generates the appropriate control
voltage vector (switching states) for the inverter by lookup table, which is shown in table 4.1 (the vector sign is deleted). The
inverter voltage vector (six active and two zero states) and a typical s are shown in Figure 4.3(b). Neglecting the stator
resistance of the machine, we can write

= (s ) (4.14)

s = . (15)
Which means that s can be changed incrementally by applying stator voltage for time increment t. The flux increment
vector corresponding to each of six inverter voltage vectors is shown in Figure 3(b). The flux in machine is initially established
to at zero frequency (dc) along the trajectory OA shown in Figure 4.3(a). With the rated flux, the command torque is applied and

the s vector starts rotating.

V. SIMULATION RESULTS

Simulation diagram of the position-sensorless direct torque and indirect flux control of BLDC motor.

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 Modeling of Direct Torque Control (DTC) of BLDC Motor Drive
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Simulated indirectly controlled stator flux linkage trajectory under the sensorless three-phase conduction DTC of a BLDC
motor drive when irds is changed from 0 to 5 A under 0.5 Nm load torque.

Actual q- axis and d-axis rotor reference frame back EMF constants versus electrical rotor position (kd(re ) and kq(re )).

Experimental estimated electromechanical torque under time-varying reference when irds = 0 under 0.5 Nm load torque

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 Modeling of Direct Torque Control (DTC) of BLDC Motor Drive
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VI. CONCLUSION

In this thesis work, successfully simulated, the proposed position-sensorless three-phase conduction DTC scheme for BLDC
motor drives that is similar to the conventional DTC used for sinusoidal ac motors where both torque and flux are controlled,
simultaneously. This method provides advantages of the classical DTC such as fast torque response compared to vector control,
simplicity (no PWM strategies, PI controllers, and inverse Park and inverse Clarke transformations), and a position-sensorless
drive. It is shown that the BLDC motor could also operate in the flux-weakening region by properly selecting the d-axis current
reference in the proposed DTC scheme. First, practically available actual two line-to-line back EMF constants (kba and kca)
versus electrical rotor position are obtained using generator test and converted to the dq frame equivalents using the new line-to-
line Park transformation in which only two input variables are required. Then, they are used in the torque estimation algorithm.
Electrical rotor position required in the torque estimation is obtained using winding inductance, stationary reference frame
currents, and stator flux linkages.
Since the actual back EMF waveforms are used in the torque estimation, low-frequency torque oscillations can be reduced
convincingly compared to the one with the ideal-trapezoidal waveforms having 120 electrical degree flat top. A look-up table for
the three-phase voltage vector selection is designed similar to a DTC of PMSM drive to provide fast torque and flux control.
Because the actual rotor flux linkage is not sinusoidal, stator flux control with constant reference is not viable anymore.
Therefore, indirect stator flux control is performed by controlling the flux related d-axis current using bang-bang (hysteresis)
control, which provides acceptable control of time-varying signals (reference and/or feedback) quite well.

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