Microcontroller-Based Direct Torque Control Servodrive

<div>Average inverter switching frequency as function of the flux (<span class="nowrap"><svg height="14.1649pt" id="M35" style="vertical-align:-5.529pt" version="1.1" viewbox="-0.0498162 -8.6359 16.8395 14.1649" width="16.8395pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M828 650H570L564 622C646 614 650 609 634 524L604 366H253L281 524C296 608 308 615 382 622L388 650H132L126 622C211 615 214 609 198 524L121 122C106 42 102 35 23 28L17 0H276L282 28C196 35 191 40 206 122L243 324H597L559 123C544 42 537 35 452 28L446 0H710L716 28C632 35 628 43 643 122L719 524C735 610 741 615 822 622L828 650Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,10.075,3.132)"><path d="M659 416L649 451C600 438 564 414 546 396C527 377 518 354 506 308C495 265 474 200 456 152C437 102 400 45 326 34L424 510L415 514L351 494L266 44C213 55 182 94 182 174C182 200 187 243 191 277C194 304 196 331 196 357C196 415 178 451 138 451C108 451 66 431 24 386L32 355C49 370 66 377 81 377C91 377 110 370 110 328C110 300 107 269 104 240C101 214 99 188 99 162C99 37 166 -5 257 -13L220 -202C215 -228 229 -251 236 -257L274 -218L318 -11C349 -4 378 8 400 21C444 48 489 89 518 157L586 327C601 369 619 393 659 416Z"></path></g></svg>)</span> and torque (<span class="nowrap"><svg height="11.8174pt" id="M36" style="vertical-align:-3.1815pt" version="1.1" viewbox="-0.0498162 -8.6359 16.602 11.8174" width="16.602pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M828 650H570L564 622C646 614 650 609 634 524L604 366H253L281 524C296 608 308 615 382 622L388 650H132L126 622C211 615 214 609 198 524L121 122C106 42 102 35 23 28L17 0H276L282 28C196 35 191 40 206 122L243 324H597L559 123C544 42 537 35 452 28L446 0H710L716 28C632 35 628 43 643 122L719 524C735 610 741 615 822 622L828 650Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,10.075,3.132)"><path d="M655 676H628C608 656 600 650 571 650H156C118 650 114 651 102 676H77C63 615 45 548 24 485L60 486C81 531 97 562 114 580C134 603 148 611 252 611H308L217 127C201 41 196 38 105 32L98 0H384L393 32C300 38 288 41 304 127L393 611H466C553 611 571 604 582 580C592 559 597 530 595 485L630 489C636 548 645 624 655 676Z"></path></g></svg>)</span> hysteresis bands.</div>

Journal of Robotics

Microcontroller-Based Direct Torque Control Servodrive

Figure 14