Direct-Torque Control of a PMSM using Four-Switch

Three-Phase Inverter

Syed Abdul Rahman Kashif, Muhammad Asghar Saqib and Mustafeez ul Hassan
Department of Electrical Engineering
University of Engineering and Technology
Lahore 54890, Pakistan
Emails: saqib@uet.edu.pk, abdulrahman@uet.edu.pk and mustafeez18@gmail.com

Abstract—This paper presents the direct-torque control of a a simplified control of an inverter in motor control. References
permanent magnet synchronous motor using four-switch three- [8] and [9] discuss the direct-torque control of an induction
phase inverter. The control of the four-switch inverter was motor using a FSTPI. An inverter’s dynamic response and
developed based upon the orientation of four-switch space- control schemes affect the overall performance of a drive and
vectors in the plane of six-switch inverter. The proposed inverter should be carefully considered. The space vector pulse width
was successfully used in the direct-torque control of a PMSM. A modulation is considered to be the best PWM technique in the
dynamic model of a machine gives deep insight for designing the conventional SSTPI because it utilizes DC link voltage more
efficient control scheme for its control. A model based estimator effectively as compared to any other PWM technique and
was used for the sensing of currents. The control scheme was
treats the three-phase bridge as a single unit. The effective use
implemented using TMS320F2812 and TMS320F28835, and the
of the space vector pulse width modulation has been discussed
results have been presented for the demonstration of efficient
control of PMSMs using four-switch inverters. in references [10]-[11] for a FSTPI.
This paper presents the direct-torque control of a surface
Keywords—Four-switch three-phase inverter, direct-torque type permanent magnet synchronous motor in the sensor-less
control, sensor-less control, surface type permanent magnet control with four-switch three-phase inverter. The authors
synchronous motor. have developed the inverter control using the symmetry
I. INTRODUCTION between the orientations of space-vectors in αβ-plane of
conventional and FSTPI. The space vector pulse width
A four-switch three-phase inverter (FSTPI) is a cost modulation technique for the conventional SSTPI has been
effective solution replacing the conventional six-switch three- modified for a FSTPI by converting four space-vectors of the
phase inverter (SSTPI) because of the ease of its control FSTPI plane into six space-vectors of the SSTPI plane. The
structure and reduced complexity [1]. The FSTPIs are finding vector control based direct-torque control has been
their applications in AC motor drives with dynamic control. implemented using 32-bit controllers from Texas Instruments.
References [2] and [3] have used four-switch three-phase Experimental results validate the performance of the direct-
inverters for the control of an induction motor which is the torque control using a FSTPI.
heart of majority of the industrial applications. Different
inverter control strategies are being employed to improve the II. PERMANENT MAGNET SYNCHRONOUS MOTOR
performance of a FSTPI in the motor control applications.
Surface type permanent magnet synchronous motor
References [4] and [5] have presented generalized PWM
(SPMSM) was used in the project. The motor parameters are
strategy for the control of a FSTPI in the AC motor drives.
The authors have presented the control of a FSTPI for given in the appendix. The dynamic model of a PMSM was
induction motors in reference [6] and for PMSMs in reference developed in Matlab Simulink to investigate its transient
[7]. A PMSM is replacing an induction motor because of its behaviour. The dynamic model was extracted from the state-
high efficiency, and torque to weight and power to weight space equations of a permanent magnet synchronous motor
ratios. References [7] and [1] explain the control of a FSTPI in which are given below.
an interior permanent synchronous motor. ⎡ Rs ωe Ld λPM ⎤ ⎡1 ⎤
⎢ −L −
Lq
−
Lq
0⎥
⎢ 0 0 0⎥
⎡ iqsr ⎤ ⎢
q
⎥ ⎡ i r ⎤ ⎢ Lq ⎥ ⎡Vqsr ⎤
The vector control of AC machines provides dynamic ⎢ r ⎥ ⎢ ωe Lq Rs ⎥⎢ ⎥ ⎢
qs
1 ⎥⎢ ⎥
control and usually field-oriented control (FOC) and direct- d ⎢ ids ⎥ ⎢ − 0 0⎥ ⎢ idsr ⎥ ⎢ 0 0 0 ⎥ ⎢Vdsr ⎥
= Ld Ld ⎥ ⎢ω ⎥ + ⎢ Ld
torque control (DTC) schemes are employed. The FOC treats dt ⎢ωe ⎥ ⎢ ⎥ ⎢T ⎥
⎢ ⎥ ⎢ 3P 2 λPM −B ⎥⎢ e⎥ ⎢ P ⎥⎢ L ⎥
an AC machine just like a DC machine and improves its ⎢θ ⎥ ⎢
 ⎣ e ⎦ ⎢ 8J
0 0⎥ N⎢⎣θ e ⎥⎦ ⎢ 0 0 − 0 ⎥ ⎢⎣ 0 ⎥⎦
N
J ⎥ X ⎢ 2J ⎥ U
dynamics controlling the d-axis and q-axis currents of the •
⎢ 0
X
⎣ 0 1 0⎥⎦ ⎢⎣ 0 0 0 0 ⎥⎦
machine while the DTC directly updates the inverter states A

B
with reference to the command torque and flux without (1)
considering the current dynamics. In the comparison of FOC
and DTC for the motor-control applications, the DTC provides

978-1-4799-2399-1/14/$31.00 ©2014 IEEE 795

 ⎡ iqsr ⎤ implementation of the space vector pulse width modulation for
⎢ ⎥ (2) a FSTPI has been presented by authors in references [6] and
⎡1 0 0 0 ⎤ ⎢ idsr ⎥
Y =⎢ ⎥⎢ ⎥ [7].
⎣0 1 0 0 ⎦ ωe
⎢ ⎥
C ⎢⎣ θ e ⎥⎦
N
X

where Rs is the stator resistance, Lq and Ld are the q-axis and d-

axis inductances, ωe is the synchronous speed, P is the number
of poles, B is the friction constant, J is the inertia constant, TL is
the load torque, λPM is representing permanent magnet flux
linkages, i qr s , i dr s , V qrs and V drs are q- d-axis currents and
voltages respectively.

Fig. 1: Four-switch three-phase inverter.

III. FOUR SWITCH INVERTER AND ITS CONTROL
A conventional three-phase inverter consists of six switches TABLE I. SWITCHING COMBINATION OF FSTPI.
while a four-switch three-phase inverter consists of four power
electronic switches with capacitors in a leg as shown in Fig. 1.
Vdc represents DC link voltage; S1 and S2 are the high-side
while S3 and S4 are the low-side power electronic switches
respectively. There exist four possible switching combinations
which are shown in Table 1; the resulting space vector in αβ-
plane are also shown corresponding to the switching
combinations. The space vectors, defined in Table I, are shown
in Fig. 2. The control of a four-switch three-phase inverter was
developed using the symmetry between the four-switch
inverter and six switch inverter planes using the concept of
space vector pulse width modulation. The space-vector plane
of a FSTPI was rotated by 60o to match the position of space-
vectors with the SSTPI plane as shown in Fig. 3. The space
vector pulse modulation technique has become the standard in
industrial motor control inverters. Therefore, SVPWM is
being investigated currently for the control of a FSTPI
exploiting the symmetry. The symmetry has been shown in
Fig. 3. The symmetry generates the switching pattern,
described in Table I, used in the inverter control using space
vector pulse width modulation. Fig. 3 shows that the vectors
Va, Vb, Vc and V4 can be generated using the vectors of the
four-switch inverter plane. The vector Va is the average of V1
and V2, Vb is the average of V2 and V3, Vc is the average of V3
and V4 and V4 is the average of V4 and V1. The switching time
of vectors in a switching interval for FSTPI is calculated using Fig. 2: Space vector plane of a FSTPI.
the equation (3). T1 represents the switching time of first vector
in sector n while T2 is the switching time of the second vector.
The switching time of null vector is given by To. Theta
reference represents the position of the reference vector in the
space vector plane.
⎧ 2 3 nπ
⎪T1 = Ts sin( − θ ref )
⎪ π 3
(3)
⎪⎪ 2 3 n −1
⎨T2 = Ts sin(θ ref − π)
⎪ π 3
⎪ Ts
⎪To = 2 − (T1 + T2 )
⎪⎩
The switching pattern of the four-adjacent vectors in a
sector using the vectors of the four-switch inverter plane is
given in Table II. A detailed discussion on the derivation and Fig. 3: Space vector planes of the SSTPI and FSTPI.

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 TABLE II. SWITCHING COMBINATIONS FOR FOUR SWITCH THREE-PHASE INVERTER USING THE SYMMETRY BETWEEN THE PLANES OF FSTPI AND SSTPI.

Optimized
Switching vectors Switching vectors Switching vector ON-time
No. switching
with SSTPI with FSTPI timings of a switch
pattern
Vb, Vb:(V2+V3)/2, V1: T0/2=Ta
S1=Tb+Tc V1,V2,V3,
1 V3, V3, V2: T1/2=Tb
S2=Tc V3,V2,V1
Vnull=(V0+V7)/2 Vnull=(V1+V3)/2 V3: T0/2+T1/2+T2=Tc
V3, V3, V1: T0/2=Ta
S1=Tc V1,V4,V3,
2 Vc, Vc:(V3+V4)/2, V3: T0/2+T1+T2/2=Tc
S2=Tc+Td V3,V4,V1
Vnull=(V0+V7)/2 Vnull=(V1+V3)/2 V4: T2/2=Td
Vc, Vc:(V3+V4)/2, V1: T0/2+T2/2=Ta
S1=Tc V1,V4,V3,
3 Vd, Vd:(V1+V4)/2, V3: T0/2+T1/2=Tc
S2=Tc+Td V3,V4,V1
Vnull=(V0+V7)/2 Vnull=(V1+V3)/2 V4:T1/2+T2/2=Td
Vd, Vd:(V1+V4)/2, V1: T0/2+T1/2+T2=Ta
S1=Tc V1,V4,V3,
4 V1, V1, V3: T0/2=Tc
S2=Tc+Td V3,V4,V1
Vnull=(V0+V7)/2 Vnull=(V1+V3)/2 V4: T1/2=Td
V1, V1, V1: T0/2+T1+T2/2=Ta
S1=Tb+Tc V1,V2,V3,
5 Va, Va=(V1+V2)/2, V2: T2/2=Tb
S2=Tc V3,V2,V1
Vnull=(V0+V7)/2 Vnull=(V1+V3)/2 V3: T0/2=Tc
Va, Va=(V1+V2)/2, V1: T0/2+T1/2=Ta
S1=Tb+Tc V1,V2,V3,
6 Vb, Vb:(V2+V3)/2, V2: T1/2+T2/2=Tb
S2=Tc V3,V2,V1
Vnull=(V0+V7)/2 Vnull=(V1+V3)/2 V3: T0/2+T2/2=Tc

Fig. 4: Direct-torque control loop for a PMSM using four-switch three-phase inverter.

IV. DIRECT-TORQUE CONTROL

Reference current and torque are specified and compared
In the SVPWM based DTC space vectors are switched such
with the actual values, and the flux and torque commands are
that torque and flux errors in the closed loop, shown in Fig. 4,
generated for the four-switch three-phase modulator which in
are minimized. The DTC is optimum as compared to FOC as
turn applies the appropriate switching combination to the
inverter switching states are directly updated instead of
inverter to realize the command torque and reference current.
considering the stator currents regulation. The DTC is based
The actual torque is estimated using the model based estimator
upon the orientation of stator flux linkages and electromagnetic
by processing the motor line currents as shown in Fig. 4. Fig. 5
torque developed in the machine. In a SSTPI vectors Vb, V3,
shows the complete Simulink model that was used in
Vc, Vd, V1 and Va while in FSTPI vectors V3, V4, V1 and V2 are
generating the code for TMS320F28335 – Texas Instruments
switched. The switching of vector is based upon the sector in
DSP microcontroller.
which the reference vector lies. Using the symmetry between
the planes of SSTPI and FSTPI the inverter switching patterns V. RESULTS AND DISCUSSIONS
were defined for the direct-control technique and are given in
The direct-torque control was implemented with the
Table III. To enhance the torque at any instant of time over the
proposed four-switch inverter and results are shown in Figs. 6
reference circle forward space-vector is switched while to and 7. Fig. 8 shows the photograph of the experimental setup.
decrease torque the reverse (previously traced vector) vector is Fig. 6a shows the q-axis and d-axis currents in the PMSM
switched. The circular trajectory of flux is ensured using the while Fig. 6b shows the torque tracking performance of the
switching technique of space vector pulse width modulation. PMSM drive with a FSTPI.

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 TABLE III. SWITCHING COMBINATIONS FOR THE DTC WITH SSTPI AND FSTPI.
Six-switch three phase inverter plane for FSTPI Four-switch three-phase inverter
disd dTe N=1 N=2 N=3 N=4 N=5 N=6 N=1 N=2 N=3 N=4
1 1
V3 Vc Vd V1 Va Vb V3 V4 V1 V2
1 -1
Va Vb V3 Vc Vd V1 V2 V3 V4 V1
-1 1
Vc Vd V1 Va Vb V3 V4 V1 V2 V3
-1 -1
V1 Va Vb V3 Vc Vd V2 V3 V4 V1
N represents the sector number

Fig. 5: Simulink model for generating code for direct-torque control with FSTPI.

Fig. 6 a) Q-axis and d-axis currents in stationary frame of reference for direct-torque control, b) Reference and actual torque with proposed FSTPI in DTC.

Fig. 7 a) Q-axis and d-axis currents in stationary frame of reference for direct-torque control, b) Reference and actual speed with proposed FSTPI in DTC.

798
 The authors acknowledge the financial support of the
Higher Education Commission of Pakistan in providing the
funding for the implementation of this project.
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conventional SSTPI and has the capability to replace SSTPIs APPENDIX
in future drives. The presented results verify the performance The PMSM used in the project has the following parameters:
of the proposed four-switch three-phase inverter in the direct- 300 V (DC), 2.7 A, 660 W, 2.1 Nm, Permanent magnet flux:
torque control of a PMSM. 0.264 Wb, No. of pole pairs: 4, 3000 rpm, J = 0.00062 kg-m2,
F = 0.0003035 Nms, Rs = 4.7 Ω, Ld = Lq=13.3 mH.
ACKNOWLEDGMENT

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