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11.3 Vector Control of Induction Machines The derivation of the vector-controlled (VC) method and its application to the induction machine is considered in this section. The vector description of the machine will be derived in the first subsection, followed by the dynamic model description in the second subsection. Field-oriented control (FOC) of the induction machine will be presented in the third subsection and the direct torque control (DTC) method will be described in the last subsection. Vector Formulation of the Induction Machine The stator and rotor windings for the three-phase induction machine are shown in Fig. 11.4. The windings are sinusoid ally distributed, but are indicated on the figure as point windings. If is the number of turns for each winding, then the winding density distributions as functions of θ are given by （11.7） where θ is the angle around the stator referenced from phase as-axis. The magnemotive force (MMF) distributions corresponding to (11.7) are （11.8） These scalar equations can be represented by dot products between the following MMF vectors （11.9） and the unit vector whose angle with the as-axis is θ. The vectors and represent unit vectors along the respective winding axes. All the machine quantities, including the phase currents and voltages, and flux linkages can be expressed in this vector form. FIGURE 11.4 Induction machine stator and rotor windings. The vectors along the three axes as, bs, and cs do not form an independent basis set. It is convenient to transform this basis set to one that is orthogonal, the so-called dq-transformation, originally proposed by R. H. Park for application to the synchronous machine. Figure 11.5 illustrates the relationship between the degenerate abc and orthogonal qd0 vector sets. If φ is the angle between and, then the transformation relating the two coordinate systems can be expressed as （11.10） where and. The variable