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motor-dtc-pmsm

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UpdatedMay 20, 2026 at 10:10

PMSM Direct Torque Control Builder. Build a Direct Torque Control (DTC) outer-loop torque/flux controller for a three-phase voltage-source-inverter-driven PMSM (SPMSM/IPMSM via parameterization) in Simulink using Sutikno 6-state switching table, αβ stationary frame, 2-level hysteresis on (T, ψ), with outer-loop Speed PI providing Te_ref. Use when constructing, reproducing, porting, or extending a DTC simulation in Simulink (keywords DTC, direct torque control, Takahashi DTC, Sutikno DTC, hysteresis-based torque control, switching table, 磁链滞环, 转矩滞环). Skip for FCS-MPC, FOC, sensorless, scalar V/Hz, BLDC trapezoidal, induction-motor DTC, DTC-SVM, MP-DTC, or pure theory questions. Layered on motor-pmsm-base.

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name	motor-dtc-pmsm
description	PMSM Direct Torque Control Builder. Build a Direct Torque Control (DTC) outer-loop torque/flux controller for a three-phase voltage-source-inverter-driven PMSM (SPMSM/IPMSM via parameterization) in Simulink using Sutikno 6-state switching table, αβ stationary frame, 2-level hysteresis on (T, ψ), with outer-loop Speed PI providing Te_ref. Use when constructing, reproducing, porting, or extending a DTC simulation in Simulink (keywords DTC, direct torque control, Takahashi DTC, Sutikno DTC, hysteresis-based torque control, switching table, 磁链滞环, 转矩滞环). Skip for FCS-MPC, FOC, sensorless, scalar V/Hz, BLDC trapezoidal, induction-motor DTC, DTC-SVM, MP-DTC, or pure theory questions. Layered on motor-pmsm-base.
metadata	{"version":"1.0"}

motor-dtc-pmsm — PMSM Direct Torque Control Builder

Three-phase 2-level voltage-source inverter + PMSM (SPMSM / IPMSM via parameterization). Outer-loop = Speed PI providing Te_ref. Inner-loop = Direct Torque Control in αβ stationary frame: stator flux integrator + magnitude/angle/sector + 2-level hysteresis on (T, ψ) + Sutikno 6-state switching table → V_k → gate.

Layered on motor-pmsm-base. All base discipline applies.

Must-Follow Rules

Plan first — Numbered plan with 21 input table, design-decision choices (design_decisions.md), build-script structure. Get user approval.
One-click reproducibility — All parameters injected via set_param(mdl, 'InitFcn', ...). Model must Run from .slx double-click in fresh MATLAB session. See crit_conditions.md §E-CRIT.
Default 6-state switching table for PMSM — switching_table_mode='6state' (Sutikno 2011 Table 2). Never default to 8-state Takahashi for PMSM — V0/V7 zero vectors cause flux to decay. See switching_table.md and crit_conditions.md §A-CRIT.
ψ_ref ≠ ψ_f by default — Take psi_ref from reference if supplied; else compute the id=0 load-point stator flux |ψ_s|_load = sqrt(ψ_f² + (Lq·iq_max)²) (not true MTPA, which needs id<0). Never default ψ_ref = ψ_f for IPMSM. See crit_conditions.md §B-CRIT.
T_eq_factor = 15 for DTC, NOT 5 — DTC's hysteresis inner loop has lower bandwidth than FCS-MPC's current PI. Compute Speed PI gains via pi_design('SO', J, 1, T_eq, a_so) with T_eq = 15·Tsc, a_so = 4. Pass Kt = 1 because DTC outer PI directly outputs Te_ref [N·m] (plant has no Kt). See crit_conditions.md §C-CRIT.
Chart config = INHERITED + dual ZOH — ch.SampleTime='-1', ch.ChartUpdate='INHERITED'. ZOH @ Tsc on every chart input (5 inputs: Te_ref, ia, ib, ua, ub) AND every chart output (9 outputs: gate, Te_meas, mag_psi, ψ_α, ψ_β, sector, V_k, C_ψ, C_T). See crit_conditions.md §D-CRIT.
Speed PI saturation is mandatory — Saturation block after PI with limits [-T_max, +T_max]. Anti-windup off for v1 baseline; production should add clamp or back-calc.
Add 4 Scopes for human inspection — Scope_wm_RPM / Scope_Te / Scope_psi_mag / Scope_psi_alphabeta (XY Graph). The αβ XY plot is the most diagnostic — circular trajectory means healthy 6-state; hexagonal-with-inner-circle means 8-state pollution. See crit_conditions.md §F-CRIT.
Non-overlapping wiring — Every add_block specifies Position per X/Y bands; arrangeSystem(mdl, 'FullLayout') as final fallback.
HB reverse-calculation from fs_max — Use plant + Tsc to back-calc HB_T_min and HB_psi_min. Percentages (HB_T = 7.5% T_max, HB_ψ = 2.5% ψ_ref) are fallback only when fs_max is unknown. See hb_sizing.md.

Build Flow

Phase	Action	Reference
0	Validate inputs + sanity grid	base/pre_build_grid.md
1	Plant layer (powergui Discrete @ step_size, DC, UB, PMSM, TL Step, current/voltage measurement)	(this skill)
2	Measurement + αβ transform layer (Clark for currents, Clark for voltages)	(this skill)
3	Outer Speed PI (RPM domain, mandatory saturation, SO method `T_eq=15·Tsc`)	crit_conditions.md §C-CRIT
4	Inner DTC chart (flux integrator + magnitude/sector + hysteresis + 6-state table)	chart_algorithm.md + switching_table.md
5	Logger (19 channels, including ψ_α and ψ_β)	crit_conditions.md §F-CRIT
6	4 Scopes (wm_RPM / Te / mag_psi / αβ XY)	crit_conditions.md §F-CRIT
7	Solver (Fixed-step ode3, FixedStep = step_size; powergui Discrete)	(this skill)
8	InitFcn injection	crit_conditions.md §E-CRIT
9	Layout cleanup (`arrangeSystem('FullLayout')`)	(this skill)
10	Self-tests + acceptance	acceptance_criteria.md

Required User Inputs (21)

Ask user before starting. Defaults in parameter_defaults.md.

Group	Parameters
Machine (6)	`Pn`, `Rs`, `Ld, Lq`, `psi_f`, `J`, `B` (B=0 forces SO method for Speed PI)
Power stage (1)	`Vdc`
Control (3)	`psi_ref` (reference value if supplied; else id=0 load-point stator flux — never `ψ_f` for IPMSM), `T_max` (reference value if supplied; else `1.5·Pn·ψf·iq_max`), `iq_max`
Sampling (3)	`Tsc` (default 50 μs), `step_size` (default 1 μs; `step_size ≤ Tsc/50`), `fs_max` (default 10 kHz)
PI design (2)	`T_eq_factor` (default 15 for DTC), `a_so` (default 4 for SO ζ_eq ≈ 0.71)
Mode (4)	`switching_table_mode` (default `'6state'`), `torque_hysteresis_levels` (default 2), `Te_feedback_mode` (default `'alphabeta'`), `flux_drift_compensation` (default `'none'`)
Solver (1)	`solver` (default `'ode3'`)
Scenario (4)	`omega_ref_rpm`, `sim_time`, `TL_step_t`, `TL_after`

Triggers / Skip

✅ Use	❌ Skip
Build / port / extend DTC simulation in Simulink	FCS-MPC, FOC, sensorless, scalar V/Hz, BLDC trapezoidal
Takahashi DTC, Sutikno DTC, hysteresis-based torque control	DTC-SVM (constant switching freq variant), MP-DTC (predictive DTC), 12-sector schemes, deadbeat flux/torque control
Switching table for PMSM DTC (6-state)	Online parameter adaptation, MTPA mid-loop, weak-field
Generalizing DTC to a new PMSM machine parameter set	Pure theory questions, paper writing, MATLAB perf, unit tests

Generalization Across Machine Sub-Types

Sub-type	Parameter constraint	Strategy
SPMSM	`Ld == Lq`	`psi_ref ≈ ψ_f` workable (verify load doesn't push `\|ψ_s\|_load` above `ψ_f`)
IPMSM mild saliency	`Lq > Ld`, `Lq/Ld ≤ 1.5`	`psi_ref` = id=0 load-point flux: `sqrt(ψ_f² + (Lq·iq_max)²)`
IPMSM strong saliency	`Lq/Ld ≥ 2`	Same id=0 flux formula; `T_max` may need higher headroom

Topology does not change — same blocks, same wiring, same chart, same CRIT conditions. Only psi_ref and iq_max budgets differ.

Out-of-scope sub-types: SynRM (ψ_f ≈ 0), IM, BLDC trapezoidal — different prediction equations and switching tables.

Known Limitation: Classical DTC Te Ripple

Hysteresis-driven switching produces an inherent torque ripple intrinsic to the bang-bang structure. Steady-state mean Te tracks reference within < 1%, but the instantaneous-Te ripple band may exceed simple ±5% bands. Acceptance Criteria Mode A allows S2 to be the marginal metric in the 4/5 budget per acceptance_criteria.md. Advanced variants that reduce ripple (DTC-SVM, MP-DTC, Sutikno Table 3) are out of scope.

Sibling Skills

motor-pmsm-base — base infrastructure
motor-fcs-mpc — FCS-MPC alternative
motor-smc-pmsm — SMC alternative