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Chapter 2 - Evolution of direct torque control .8 DC motor drives .9 Features 9 Advantages .9 Drawbacks 10 AC drives - Introduction 10 AC drives - Frequency control using PWM .11 Features 11 Advantages .12 Drawbacks 12 AC drives - Flux vector control using PWM 12 Features 12 Advantages .13 Drawbacks 13 AC drives - Direct torque control .14 Controlling variables .14 Comparison of variable speed drives .15 Chapter 3 - Questions and answers 17 General 17 Performance 18 Operation .24 Chapter 4 - Basic control theory .28 How DTC works .28 Torque control loop.29 Step 1 Voltage and current measurements 29 Step 2 Adaptive motor model .29 Step 3 Torque comparator and flux comparator .30 Step 4 Optimum pulse selector 30 Speed control 31 Step 5 Torque reference controller .31 Step 6 Speed controller .31 Step 7 Flux reference controller 31
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