Direct torque control of permanent magnet synchronous motor. Also the application of motor control in dentistry, the effect of human reaction and improvement of the efficiency of drives with control have been described. I still havent quite been able to find out what controllers use what kind of control torque control or speed control but i decided it would be a better thing to try to learn exactly what the difference was, and why. Direct torque control using phase current reconstruction algorithm in induction motor anju r1 sathiskumar m 2 1m. To control dc motors torque, a dc drive will regulate armature current.
At present, induction motors are the dominant drives in various industries. Malkin 1 oc servomotors as applied to robots and machine tools can be applied either as torque control devices or speed control devices. I truly appreciate and value his esteemed guidance and encouragement from the beginning to the end of this report. This was direct torque control or direct torque and flux control drive. Direct torque control of induction motor copy magnetic. The efficiency of direct torque control for electric vehicle. The performance of an induction motor under the classical direct torque control method and improved scheme have been studied and confirmed by simulation using matlab. The first industrial motors of this type were constructed at the end of the nineteenth century and soon gained the favor of users who appreciated their raggedness, simplicity and relatively low manufacturing cost compared to dc commutator motors. Direct torque control of induction motor has increasingly become the best alternative to fieldoriented control methods.
This monitoring element provides the feedback to the speed controller to either increase or decrease speed. Powered magnetic particle units give extremely fast response and since torque is almost linear to the currentvoltage applied, precise tension control can be achieved with a very simple control structure. Position control vs velocity control vs torque control. The bemf is measured in the floating phase of the motor. For the most part, an ac motor wants needs to control torque, and you can integrate speed control into the programming to give more of a speed control feel. This involves calculating an estimate of the motors magnetic flux and torque based on the measured voltage and current of the motor. A novel direct torque control method based on asymmetric. Direct torque control of 4 phase 86 switched reluctance. The whole drive system is simulated in matlabsimulink based. Direct torque control for induction motor drives main features of dtc decoupled control of torque and flux absence of mechanical transducers current regulator, pwm pulse generation, pi control of flux and torque and coordinate transformation are not required very simple control scheme and low computational time. Next, i was moving my bldc in a stepper motor like action. An approach to torque control of dc electric drives is discussed in this paper.
The efficiency of direct torque control for electric vehicle behavior improvement 129 2 electric traction system elements modeling fig. Pdf an approach to torque control of dc motor drives. In scalar control, which is based on relationships valid in steady state, only the magnitude and frequency of. Dc torque motor the present manual shows an opportunity for the servomechanisms builders of choosing the dc torque motors, with high performances, low price and immediate delivery. Direct torque control of permanent magnet synchronous. Vc aims to control the rotor flux and torque of the motor by estimating the speed and voltage. Control of motor torque and velocity or speed are operating mode selections available to most basic dc drives and to some flux vector type ac drives. Torque control of a kuka youbot arm davide scaramuzza. Induction motor modelling for vector control purposes pdf. Now, i was studying the bemf waveform for this stepper motor action in the bldc.
Dec 05, 2014 were making progress on this whole how does a controller work. The torque generated by the motor, and its speed of rotation, are dependent on each other. The advantages of this scheme is input power factor control, lack of dclink, sinusoidal voltage and current, and also use of. The uniservo torque actuator is the worlds first actuator having torque servo for robots built. In recent years, the research has been focused to find out different solutions for the induction motor control having the features of precise and quick torque response and reduction of the complexity of field oriented control. In this paper the problem of robust mixedsensitivity hoo control for an 1m system which possesses not only parameter uncertainties but also external. So i was thinking is there a way to increase the torque generated by the motor when i need it and increase the speed of the motor when needed by changing the voltage being transfered to it by installing a transformer. Direct torque control or dtc as it is called is the very latest ac drive technology developed by abb and is set to replace traditional pwm drives of the open and closedloop type in many applications. Speed control of dc motor the speed of a dc motor is given by i flux control. When the motor accelerates, the bemf voltage increases, so the voltage applied to the motor must be varied to keep current amplitude i. Blocks pertinent to the control of the dcmotor are modeled using. Direct torque control design for three phase induction motor.
Index termsbrushless dc bldc drives,direct torque control dtc, permanentmagnet motor. Introduction the permanent magnet brushless ac blac and brushless dc bldc drives 1, 2 are used extensively for many. Remember a simple dc motor even a brushless type has a very clear torquespeed characteristic that means, for a given speed at a given torque, an increase in. Direct torque control dtc is one method used in variable frequency drives to control the. Assessment of direct torque control for induction motor drives. Direct torque control of a bldc motor based on computing.
This paper discusses the speed and torquecontrol of a shunt dc motor through matlab simulink simulations. It is quite cumbersome to control an induction motor im because of its poor dynamic response in comparison to the dc motor drives. A system for speed and torque control of dc motors with. In the dtc, motor torque and flux magnitudes directly controlled with control of stator flux vector. The performance of the drive mainly in terms of torque ripple is analyzed with new set of space vectors. This involves calculating an estimate of the motors magnetic flux and. In this paper the direct torque control model is designed and tested through matlab simulink software for torque and speed control of induction motor. Direct torque control describes the way in which the control of torqueand speedare. Harmonizing drives the driving force behind abbs allcompatible drives architecture pdf. Torque and speed control of dcservomotors for robots. In this paper the problem of robust mixedsensitivity hoo control for an 1m system which possesses not. A new torque and flux control scheme called the direct torque control dtc has been introduced for induction motors.
Dc motors although ac motors are used in most of the cases, dc motors. The dc shunt motor is 120vdc with rated speed of 1800 revolutions per minute. Speed control in a speed controller, the motor s speed or velocity is being controlled. Since it measure torque at the output shaft, any torque on the output shaft can be controlled and any torque and rotation angle of the motor can be controlled as well.
It has been more than a century since the principle of the operation of induction motors was discovered. Direct torque control of three phase induction motor using matlab. I am new to this field so spare me if i am asking something wrong. Armature torque of a dc motor torque is the turning moment of a force about an axis and is measured by the product of force f. This paper proposes a design and tuning method for a complex gain controller which is designed by using the induction motor complextransferfunction to control the motor. In dtc the torque and flux of an induction motor can be controlled directly by applying a suitable voltage vector to the stator of.
With some products, velocity mode operation can include capacity for regeneration. There is an element that detects speed, whether it be a tachometer or some sort of encoder. The efficiency of direct torque control for electric. Phase relation between b sta and b rot is unknown the load angle, which determines the efficiency of the system, is not directly controlled no current control. The numbers shown around the peripheral of the motor diagram in. The disadvantages being that, it loses thrust as i am not firing my mosfets at the right interval. The controlled object includes a threephase thyristor converter and a separately excited dc motor. The uniservo torque actuator is the worlds first actuator having torqueservo for robots built.
Powered pure hysteresis units have a very wide controllable range and are ideally suited for motor test stands and for. Since, dtc direct torque control introduced in 1985, the dtc was widely use for induction motor drives with fast. And finally produced motor torque equation can be written as. This paper discusses the speed and torque control of a shunt dc motor through matlab simulink simulations. The direct torque control of srm is simulated in matlab simulink for constant torque load. This involves calculating an estimate of the motor s magnetic flux and torque based on the measured voltage and current of the motor.
Motor current, in turn, generates torque via the motor torque constant. Direct the motor torque is proportional to the armture current. In this chapter direct torque control dtc switching technique with digital pulse width modulation pwm speed controller of bldc motor for drive train system of ev has been reported. Existing control schemes for the kuka youbot arm, namely joint position and joint velocity control, do not consider the arm con guration and its dynamics. Direct torque control of three phase induction motor using.
Design of direct torque controller of induction motor dtc. This paper presents a simple approach to design and implement. Effectiveness of the proposed bldc motor drive is investigated through simulation and experiment. Direct torque control dtc is one method used in variable frequency drives to control the torque and thus finally the speed of threephase ac electric motors. Direct torque control of inwheel bldc motor used in. Direct torque control of a bldc motor based on computing technique. The curve for the output power of the motor is deduced from the graph of torque versus speed. Direct torque control of brushless dc drives with reduced. I have a battery of around 48 volts and a dc motor of 2hp. Yes, youll control the torquecurrent by varying the duty cycle, but youll eventually fry either the motor orand its driver. High performance direct torque control of induction motor drives. What is actually meant by torque control of dc motor. Direct torque control of 3 phase induction motor using 4 switch inverter by. Direct torque control using phase current reconstruction.
In addition to these parameters like d and q stator current, d and q axis flux, torque and speed are obtained graphically. A system for speed and torque control of dc motors with application to small snake robots. Direct torque control of sixphase induction motors using. Vector control, also called fieldoriented control foc, is a variablefrequency drive vfd control method in which the stator currents of a threephase ac electric motor are identified as two orthogonal components that can be visualized with a vector. The dtc control algorithm is bases on selecting of the appropriate inverter switching state to directly control stator flux vectors speed and length that explain why the method is. So, ultimately, every controller regulates motor torque, but with the end goals varying control motor acceleration, velocity, or position. Direct torque control of inwheel bldc motor used in electric. Therefore, we designed a torque controller, based on a dynamical model of the kuka youbot arm, and validated it on a real platform. Pdf speed and torque control of a dc shunt motor elmer. Speed control in a speed controller, the motors speed or velocity is being controlled. Armature current cannot be increased above rated, and also when motor. E power electronics and drives, department of pg electrical sciences, p.
The main contribution of this research is speed and torque control of induction motor by using hoo mixedsensitivity problem via ts fuzzy model. Torque control dtc of a permanent magnet synchronous motor pmsm drive. Icpe sa department 4 designs and manufactures dc permanent magnets torque motors whose windings are optimized so that a maximum. By this method it is preserved the principle of the conventional dtc regarding the decoupled torque and flux control, while providing more flexibility for the inverter voltage utilization, in order to compensate the torque and flux errors. Introduction direct current dc motors comprise one of the most common types of actuator designed into electro. Direct torque control technique for voltage source inverter fed induction motor drives. Assessment of direct torque control for induction motor drives vector determines the instantaneous angular speed of the stator. The reader will be able to understand the new methods of control used in drives, e. Direct torque control of induction motor copy free download as powerpoint presentation. Motor control suppose we wish to use a microprocessor to control a motor or to control the load attached to the motor. For torque control the current to the motor is the input variable, and for speed control the voltage is the. This paper presents a new direct torque control of sixphase induction machines using threephase matrix converter.
Torque and speed control of dcservomotors for robots yoram koren 2 submitted by s. This estimation can be either directly done through measurements or. Yes, youll control the torque current by varying the duty cycle, but youll eventually fry either the motor orand its driver. Pdf direct torque control strategy of induction motors. Project report on direct torque control of permanent magnet synchronous motor as without his constant motivation and support during my work, this would not have been possible. Control loop of an ac drive using dtc controlling variables with the revolutionary dtc technology developed by abb, field orientation is achieved without feedback using advanced motor theory to calculate the motor torque directly and without using. Direct torque control of inverterfed induction machine allows high dynamic performance by means of very simple control schemes. Ill close by pointing out that a motor controller output is terminal voltage because thats how one modulates motor current. Direct torque control of induction motor fed from hybrid.
1425 1526 513 850 336 929 212 1443 1242 1103 1210 242 97 49 308 401 391 1290 510 1111 808 1274 342 43 1088 1047 1319 1091 209 258 480 1029 296 1188 242 988 1464 33 843 645 118 206 760 1277 57 15 1395 1344 849