578

IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. 25, NO. 4, JULYIAUGUST 1989

A Novel Technique of Rotor Resistance Estimation Considering Variation of Mutual Inductance

Abstract-The study proposes a method to estimate ac inductionmachine mutual inductance and rotor resistance based upon terminal voltage, current, and shaft speed as input signals. For certain operating regions of the machine it is verified that the mutual inductance can be accurately estimated regardless of wide stator resistance variation. The equations to estimate mutual inductance and rotor resistance are derived from the machine nonlinear differential equations. The nonlinear equations are solved using integration. The initial condition for each integration is found by an averaging of measured input signals. The validity of the suggested method is confirmed by computer simulation and experimental test. The simulation results considered the dynamics of the induction machine, current controller, and field-oriented controller and show that the mutual inductance and rotor resistance can be estimated with reasonable accuracy even in the transient state. Mutual inductance and rotor resistance estimations for the experimental test results support the simulation results with negligible error.

INTRODUCTION

IELD-ORIENTED Control (FOC) is a promising induction-machine control method that obtains the excellent motor dynamic performance. There are several methods to implement FOC. The most widely used method is the indirect calculation of rotor flux by terminal voltages and/ or currents and rotational speed of the machine. Is is well known that in this FOC scheme, knowledge of the rotor time constant value is indispensable. Unfortunately, this time constant varies widely with rotor temperature and the flux level of the machine. Many research studies have addressed techniques to calculate an estimated rotor time constant. One technique is to measure reactive power and to correct the rotor time constant according to the difference of the measured and calculated reactive power [I], [2]. Another method injects a signal to the induction machine and estimates the time constant SUMMARY OF BASIC EQUATIONS USED FOR STUDY by the response of the injected signal [3], [4]. The other method uses modern estimation and control theory principles The dynamics of induction machine can be described by the such as adaptive control theory and Kalman filtering [5], [6]. following eight nonlinear differential equations [9]; these Most of the methods, however, consider the mutual inductance equations are derived in a-0 coordinates: or rotor self-inductance to be constant and only try to estimate the rotor resistance. Some methods are too complex to implement. The assumption that mutual inductance is constant is good only if the flux level of the machine is maintained constant. In certain cases the flux level of machine can be varied to get better performance such as efficiency improvePaper ICPSD 8 8 4 0 , approved by the Industrial Drives Committee of the

ment or field-weakening control for higher speed operation 171, PI. In this study a method to estimate both mutual inductance and rotor resistance based on terminal voltage, current, and shaft speed is suggested. It is verified that in certain operating regions of the machine, the mutual inductance can be accurately estimated regardless of the wide variation in the stator resistance. The mutual inductance depends on the machine flux and does not vary with temperature. However, rotor resistance depends only on rotor temperature and is independent of the flux level. Therefore, once the mutual inductance is found in a certain operating region, it can be tabulated in the microprocessor memory for different flux levels. Next, the rotor resistance is estimated by using the table of mutual inductance and measured terminal quantities. The equations to estimate mutual inductance and rotor resistance are derived from nonlinear machine differential equations. It is assumed that the machine is driven by a variable-frequency source which has no dc offset in the currents and voltages. By using this assumption, a novel technique to solve the equations is suggested. The method can be implemented without complexity and gives reasonably accurate values of the rotor resistance and the mutual inductance. The validity of the suggested method is confirmed by a computer simulation, where the full dynamics of the induction machine including inverter and controller are considered. The robustness of the proposed method to measurement noise is demonstrated by the computer simulations. Also, some simple experimental test were carried out t$ support computer simulation results.

IEEE Industry Applications Society for presentation at the 1987 1ndus:ry

Applications Society Annual Meeting, Atlanta, GA, October 19-23. Manuscript released for publication December 7, 1988. The author is at 1545-3 Shin Rhim 9 Dong, Kwan Ak Gu, Seoul, Korea 15 1-019. IEEE Log Number 8927823.

OO93-9994/89/07OO-0578$01 .OO O 1989 IEEE

SUL: NOVEL TECHNIQUE OF ROTOR RESISTANCE ESTIMATION

0

I HP M R C H I N E
HP t i R C W l N E

-3
.
'

10 HP M R C H I N E

100 HP M R C H I N E 500 H P M R C H I N E

Fif. 1

E\timation error

in

mutual inductance \erbub load torque uith machine size as parameter. Steady-state operation at 60 Hz \\ ith - 30 wrcrnt error in stator resistance.
J

where subscripts 1 and 2 designate stator and rotor, respectively, L is the machine self-inductance, M is the mutual inductance. and $ is the flux linkage. The five machine parameters are L , , L,, M , R I , and R2. The terminal quantities U,,, uld, i,,, and i,, and machine shaft speed (a,) can be easily measured. The six quantities that cannot be easily measured are flux linkages in the rotor and stator and the i20. i2,j rotor currents. The objective is to estimate the mutual inductance ( M ) and rotor resistance (R,) parameters independently. These parameters can be expressed as differential equations after eliminating flux linkages and rotor currents, and are shown in the following:

A problem that exists when using (1 1) to estimate mutual inductance ( M ) is that of possible variations in the stator resistance R 1 .The exact value of R I should be known before using (10) and (1 1) to estimate M and R2. By only using the eight machine equations (1)-(8), it is impossible to estimate M and R2 independent of R I . Stator resistance can vary with machine operating conditions and stator winding temperature. Fortunately, certain operating regions of the induction machine, especially the high-speed light-load condition, have minimal influence on the estimation of M using (11). To determine stator resistance variation due to temperature effects it is useful to assume the temperature increase in the machine from 0C to 100C. In this case an approximate resistance is determined using the following formula: Rl~oc=Rooc(235 + 100)/235 Z 1.42Rooc.

The self-inductances, L 1 and L z , can be expressed as the sum of the leakage and mutual inductance ( L I = L I 1+ M , Lz = L 1 2+ M). The stator leakage (LI1) term only depends on the physical dimensions of the machine. Usually the stator leakage inductance (L1 is a constant for a given motor and is independent of machine operating conditions such as voltage, current, flux, and temperature. Rotor leakage inductance (Liz) varies with air-gap flux. However, rotor leakage inductance is nearly constant when the teeth of the machine are saturated. The degree of tooth saturation is dependent on the machine design and air gap flux level. In typical machine design the teeth are usually under saturation until the air gap flux decreases to half of its nominal value. Thus the rotor leakage inductance can also be considered as constant in the operating region of interest [lo]. Therefore (9) and (10) can be rewritten as ( 1 1) and (12); the detaii,d derivation for (11) and (12) is continued in the Appendix: M=h(uia9 ~ 1 0 ,ii,, i 1 6 , R i ) (1 1)

The average value of these two resistance limits is chosen as the stator resistance. Thus a stator resistance variation of + / - 2 1 percent from a reference value at an operating temperature of 50C is obtained. MUTUAL INDUCTANCE A N D STATOR RESISTANCES Fig. 1 shows the calculated variation in the estimation error of mutual inductance versus output torque with machine size as the parameter. In all the calculations it is assumed that the stator resistance is varied from 70 to 130 percent of its reference value. The maximum relative error of estimation is defined as follows: estimation error = maximum

Mest(;-M)

where M is the actual value of mutual inductance, and Me,, ( R I )is the estimated mutual inductance value which is a function of stator resistance. Fig. I shows that larger horsepower machines have smaller estimation error. Moreover, for a given horsepower machine,

580

IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. 2 5 , NO. 4,JULYIAUGUST 1989

3 HP M R C H I N E

.
x

10 HP M A C H I N E
100 HP M A C H I N E

500 HP MRCHINE

...............
r .

.......

........ ....
FREQUENCY I N P.U.

Fig. 2.

Estimation error in mutual inductance versus operating frequency with machine size as parameter. Steady-state operation at 213 per-unit torque with + / - 30 percent error in stator resistance.

TORQUE b FREQUENCY RRER U I T H I Y 3%

LM E S T .

ERROR : + / - 3 0 % ERROR I N P S

.
'

3 HP M R C H I N E

10 HP M R C H I N E
100 HP M A C H I N E
SOD HP M R C H I N E

d.00

0 ' . 17

0'.33

0 ' . 5 0

OI.67

F R E Q U E N C Y I N P.U.

01.83

1'.00

Fig. 3. Torque versus frequency region of operation within / - 3 percent estimation error of mutual inductance with machine size as parameter. Steady-state operation with + / - 3 0 percent error in stator resistance (lower portion of each curve in figure is allowable operating region).

the error reduces as the torque reduces. From Fig. 2 it can be the overall operating region of the machine, there is no need to observed that fo. the same machine, estimation error is smaller estimate mutual inductance at every estimation because it is for higher operating speeds. The curves in Fig. 3 identify the usually independent of temperature and load conditions. operating area of the induction machine where the mutual OF INITIAL CONDITIONS EVALUATION 3 percent) inductance can be estimated with small error ( < regardless of large stator resistance variation. In Fig. 3 the To solve the nonlinear equations ( 1 ) ( 8 ) , we could use operating area is the lower part of each curve. If an induction- integration or differentiation. The differentiation process machine load torque varies with the square of speed, such as a usually amplifies noise in the input signals and is therefore not fan-type load, then it is clear that for machines larger than 10 a preferred choice. If integration is used, the initial conditions hp, the mutual inductance can be accurately estimated in the should be known. For example, to eliminate variable $ l a , we full operating region with small error. After finding the mutual can integrate (1) and substitute it into ( 5 ) : inductance at the operating flux level, the rotor resistance can be estimated by (12) regardless of stator resistance variation. Once the mutual inductance is found at different flux levels in

SUL NOVEL TECHNIQUE OF ROTOR KbSISrAhCb FSTlhl ATION

58 I

'O'.OD

110.00

80.00

120.00

:E:

10

1 0 0 M I C R O . SE:.

z::.::

2.z.33

Fig. 4 . Voltage and current v,aveforrn\ and iiiutual inductance c ~ t i r i i ~ [ i ocrrrir n i n prc,cni< oi noiic (30 perccnt error in stator resistance. 100-hp. four-pole induction niachine. load torque I\ I 0 per u n i t . hl I - H I opcrdlicm, \ i p i l - t o - n o i \ e ratio is 21.4 db)

where the time origin is the starting point of our estimation. If all signals have no dc offset, then the time integral \ d u e of each side for multiple periods of input frequent! should he zero because the flux component has no dc balue. Then

The instantaneous \ alues of M and R2 estimated by (1 1) and 12) are uwd In the field-oriented controller after averaging for multiple periods to reduce error:
(

and

NT
where N is in the order of tens and T is a period ot the wuri'e frequency. Let us define

The rotor resistance can vary with rotor frequency. But in

ths 5tsady-state operating condition, the rotor frequency is

U,,(O) = -

\"

1:) 1:

vli,

CIT

rlr (13)

NT

Z,(O)

\"
-

i,,, d r dr

NT

(14)

(15)
r\T
,?I

Then $,,(O) constants:

can be represented as the sum of two initial

$l,(O)

um

- ~I~a(0).

Similarly, $l;i(0) can be defined

nearl! constant. For small transient changes in rotor frequenc!'. the effect upon the rotor resistance can be neglected b ! a\.eraging the estimated resistance values over several tens of C ! cles. To show the robustness of the proposed estimation method, a computer simulation is carried out with severe noise. In this calculation. white noise is used and the signal-to-noise ratio is 24.4 d b . The machine used is a 100-hp four-pole induction machine. Results from Fig. 4 show an estimation of the mutual inductance with a 30% error in the stator resistance value. The voltages and currents are a , p quantities transformed from the balanced three phase quantities. All quantities are represented in per unit. It is assumed that the machine is running in steady state with 0.5 per-unit torque when estimating the mutual inductance. In the case of rotor resistance estimation, a load torque of 1.O per unit is assumed. In both cases the frequency of operation is 60 Hz and sampling frequency is 20 kHz. The data was sampled for 0.5 s. From Fig. 4, the instantaneous relative estimation error of mutual inductance varies from - 15 percent to 25 percent, but the average error in a period is 1.21 percent in spite of noise and the incorrect stator resistance. From Fig. 5 , the instantaneous relative estimation error varies from - 15 percent to 15 percent, but average error is only 0.1 percent.

582
0

IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. 25, NO. 4, JULYIAUGUST 1989

I N P.U.

BETR PH.VOL.
I N P.U. RLPR PH.CUR. I N P.U.

BETR PH.CUR. I N P.U.

SL. /RRTEO
I N P.U.

- S L I P SPEED
SL.

RV. ERR.XlDD R V . = . 10%

N I

'o'.oo
Fig. 5.

Irb.00

ab.00

100 M I C R O . SEC.

laJ.00

160.00

2'00.00

$40

.00

Voltage and current waveforms and rotor resistance estimation error in presence of noise (IOO-hp, four-pole induction machine. load torque is 0.5 per unit. 6 0 - H ~ operation. signal-to-noise ratio is 22.4 db).

E, d,

Low Po% Filter

spew
~

0,

A ref
Io.lb.Vo.M

Torque Command
I

M ref ref
I

Microprocessor

Fig. 6. System block diagram considered in simulation.

Fig. 7. Typical phase voltage and current waveforms (3-hp, four-pole induction machine, load torque is 314 per unit, machine speed is 1200 r/ minl.

Operation Commond

COMPUTER SIMULATION The proposed estimation method can be easily implemented by a microprocessor. The microprocessor first decides whether the machine is to be operated under the area where M can be estimated with small error. If the operating point is in the area, it estimates M and also calculates air-gap flux. Next, the estimated value can be stored in a table for different calculated flux values. After estimating M , the microprocessor can estimate R2 using M in the table at a specified flux. To prove the validity of the suggested method, the system shown in Fig. 6 is simulated. It is simulated on a digital computer using simulation language advanced continous simu-

lation language (ACSL). The induction machine is a 3-hp fourpole squirrel-cage motor. The inverter is a PWM transistor type switching at 2 kHz. The low-pass filters are second-order Butterworth filters with a cut-off frequency of lbo Hz.The sampling period of the A/D converter is 50 ps. The current controller is a ramp comparison type with three independent controllers. The controller produces sine-triangle naturalsampling PWM. Hysteresis is added to prevent multiple crossing of the triangle waveform [ 111. The typical phase voltage and current waveforms of the inverter are shown in Fig. 7 and their filtered waveforms are shown in Fig. 8. Figs. 9 and 10 are the simulation results for the estimated In both cases the speed reference is 1200 values of M and RZ. r/min (2/3 in per unit), and the signals (voltages, currents, and machine shaft speed) are sampled approximately from 1.4 to 1.9 s. At time point 1.9 s, the initial values U,(O), ZJO), UB(0),ZB(0) are calculated by (13), (14), (15), and (16), respectively. At time point 1.9 s, the instantaneous estimation

SUL NOVEL TFCHNlQLlE OF ROTOR RESlS TANCI- FSTIMATION

583 value of M is calculated. For convenience, the relative error of estimation is shown in each figure. The error is shown as a function of time from 1 .9 to 2.4 s. If the calculation speed of microprocessor is sufficiently fast, then the instantaneous and average value of M and R2 can be found immediately after sampling. However, in these figures the error is calculated with the same sampling speed. Therefore there is approximately a 0.5 s time delay in the estimation of ( M , R2)and the signals of (torque, speed). In Fig. 9. load torque (113 in per unit) is applied at the time instant corresponding to I . ? s. The speed response shows a little dip. In this case the instantanous estimation error in M varies from - 5 to 18 percent and its average is 4.2 percent. Here stator resistance is assumed to be 130 percent of its actual \slue. The em>: is a little higher because the machine is small ( 3 hp) and there is also a load transient. I n Fig. I O , load torque i b reduced from 2 3 per unit to 1!3 per unit at the time point 1 . ? s. b o there is a small overshooting in the speed response. The estimation error in R2 varies from - 2 to 6 percent. excluding transient error. The average estimation error, including transient error. is 0.4 percent. The simulation results show that the proposed method is reasonably accurate, practical, and robust.

Fig. 8.

0 D

N U

EXPERIMENTAL VERIFICATIONS
0 0

3 Y
s
0

w 0
0

'la

1 8 )

T T l M F IN SECOND

180

200

220

240

Fig. 9. Simulation result of mutual inductance error considering system dynamics: torque, speed, and estimation error versus time (sampling time: 1.4 s to 1.9 s: estimation: 1.9-2.4 s based upon sampled data; torque: 0 to 113 In per unit; speed: 1200 rimin).

ria

i m

T T I M E IN SECOND

IEO

200

220

Fig. 10. Simulation result of rotor resistance t r r o r considering system dynamics: torque, speed, and estimation error versus time (sampling time: I .4-1.9 s estimation: 1.9-2.4 s based upon sampled data, torque: 314 to 113 in per unit, speed: 1200 rimin).

Simple experiments were carried out to support the computer simulation. To estimate mutual inductance, the induction machine was driven without load. The line current and voltage were sampled by a digitizer, and the sampled data was processed according to the suggested method by using an offline minicomputer. The estimated results are compared with the experimental value obtained by a conventional no-load test. Similar procedures were done to estimate rotor resistance. In this case the machine was driven with rated torque. The machine used was a 3-hp four-pole induction machine driven at 60 Hz. The M and R2 estimations were tried with two different power sources. One is a sinusoidal utility source, and the other one is a 2-kHz PWM inverter. In all estimations, the sampling frequency is 20 kHz and the number of sampling points for each channel is 3960. To obtain slip speed for the estimation of the rotor resistance, the shaft speed of the induction machine was measured by a precision shaft encoder. In all estimations. and before applying the method, all data were passed through a second-order Butterworth filter whose cutoff frequency is 150 Hz. The estimation results of the mutual inductance are shown in Fig. 1 1. The estimation was carried out for two different airgap flux levels and for each type of power source. The results show good agreement with estimated values and the values obtained by a no-load test. Instantaneous estimation results for the sinusoidal power source case with rated flux operation and those of the PWM inverter case are shown in Figs. 12 and 13. The figures show only a part of the estimation period. The average relative error value of the estimated L , for a whole estimation period is 0.51 percent for the sinusoidal case and 0.83 percent for the PWM inverter case. The estimation results under reduced air-gap flux level differ with the values obtained by the no-load test. This is attributed to changes of

584

IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. 25, NO. 4, JULYIAUGUST 1989

: No Load Test : Sinusoidal wave ( Utility power source )

: PWM

inverter source

S O ! .

, . , . , . , . , .
0.2
0.4

0.0

0.6

0.8

1.0

1.2

Airgap flux [PA]

Fig. 11. Experimental results of estimation of mutual inductance compared with values obtained by no-load test.

VI 0

VBC I N PER U N I T

IR
I N PER U N I T

IB
I N PER U N I T

ERR. H I N PER U N I T

1
00
yl 0

vv v v
20.00
UO.00

V'
80.00 100.00
120.00
I

60.00

SOUSEC

*lo1

Fig. 12. Instantaneous relative estimation error of mutual inductance with sinusoidal power supply

'o'.oo

lj.00
M

3b.00

k.00

6b.00

7j.00

sb.00

SOUSEC

x10'

Fig. 13.

Instantaneous relative estimation error of mutual inductance with PWM inverter power supply.

SUL: NOVEL TECHNIQUE OF ROTOR RESISTANCE ESTIMATION

585

TABLE I EXPERIMENTAL RESULTS FOR ESTIMATED ROTOR RESISTANCE

_________
~~~

__________~~

~ _ _ _ _ _ _ _

Power Source

Cold Room temperature

Hot After 30 min runnmg with rated torque

R2 = 0.71710

Sinusiodal power supply (utility source) PWM inverter source

R2

0.6593Q

R2 = 0.6953Q

Rz = 0.75210

POviER S O U R C E : P W M I N V E R T E R

-1

- R O T O R R.
I N COLD

ROTOR R. I N HOT

Fig. 14. Estimated values of inhtantansou\ niotor rshihtance with PWM inverter power supply for two different operating temperature5 (a\srdgc \lilue tor cold case is 0.6953 R and 0.7521 R for hot case).

the leakage inductance values and to experimental error in the no-load test itself. The estimation of rotor resistance is shown in Table I. To see the variation of rotor resistance, two tests were performed. First, the cold R2 estimation was done at room temperature with a cold machine driven with rated torque. The hot R: estimation was done after the machine was driven at rated torque for over 30 min. This estimation was also done with rated machine torque. The instantaneous estimation results of the PWM inverter driven case is shown in Fig. 13. The average rotor resistance value is R2 = 0.69.53 fl for the cold l for the hot case. case and R2 = 0.7521 f
CONCLUSION

clearly shown in the computer calculation results. The experimental test results support the simulation results and verify the suggested estimation method. APPEND Ix

Derivation of (11) and (12)

By integrating both sides of (l),

-0

[' IC,'

d7=

'0

[' (ul,-RIil,)

d7

('41)

and ('42) From ( S ) , ( A l ) , and (A2) we get

( u l u - Ril,) d7

In this study a method to estimate rotor resistance and mutual inductance has been suggested and verified. The equations for estimation were derived from basic machine differential equations. The initial condition of each integration was found by averaging measured signals for multiple periods. The validity of the estimation method has been justified by computer simulations. The results show that the mutual inductance can be estimated with negligible error, regardless of a 30-percent error in stator resistance value. The simulation results considered dynamics of induction machine, current controller, and field-oriented controller and show that the mutual inductance and rotor resistance can be estimated with reasonable accuracy, even in transient state. The robustness of the proposed estimation method to measurement noise is

+ ql,(0) = L , il, + Miza.

(A3)

The initial condition $1,(0) can be represented as

586
We can define

IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL.. 25, NO. 4, JULYIAUGUST 1989

Since

U, =

L1= i v +L 11
S'VI,

d7+ U,(O)
~T+I,(o)

.-

and

Z , =

j' i l a

L2 = M + L12 (A15) is therefore the cubic equation of M . However, the cubic terms of both sides are equal; after all, the equation is a quadratic equation of M .

and (A3) can be rewritten as

U, - R I Io = L 1i l B +Mi2,.
If the magnitude of rotor flux varies slowly, then

where

A =E-(Ll,+L12)(i:a+i:,)
(A7! B=~(L +,L~, ~ ) E - D -L ~ ~+2L12)(i;,+i$) ( L ~ ~

2a

=-

rc. ; ,
w1
a 1

C = 2 L l l L l z E -L I I D -L:I L 1 2 ( i : a + i:,)
(A8) and

$;a $2, I --

D = ( U, - R 1I,) '+ ( U, - R I Io)

E = i,, ( U, - R , I, ) + i, ( Ud- R II,). (A91 To derive ( 1 2 ) from (A5).( A 6 ) ,(A9).and (AlO),i2,, i28 can be eliminated: (A101 Mwz $2, U,-R,Ie= L , i l 0 - t-__ ( A16) R2

Here w1 is the angular velocity of the rotating field. From ( 2 ) , (4), (A7), and (8)
w2$2,= a2$2a=

R2i2G

-RZi23

Here

w2

is the slip angular velocity, and

(L12=wI-Wm.

From (A9), (AlO),(6), and ( 8 )

--

R2i2, - Mi,, + L2i23

a2

From ( 6 ) ,( 8 ) ,( A 9 ) ,and (AIO)we can express terms of i l a ,i l g :

ha, $ 2

~ in

R2 i2d --Mila
w2

+ L2i2,.

(A121
$2,

ML2cc2 il Mi I , +R2

(A181

From (A5),(A6),(AI I ) , and (A12) we ( n eliminate i2a,iZs. After some manipulations, the following equations can be obtained:

1+pj2
M i l JML 2 U2 il a
~

R2 --il,
u a - R 1 1,

- L 1 il a - w2 -

L2ila ( A13) L;

$2, =

R2

( A19)

M2

(2)+
w2

7
By substituting (A18)and XI^^) $2B can be eliminated:
prt P

i . 6 ) and (A17),$za and

R2ila

U, - RI 4 3 - L1 il, M2

(2)'..;

L24,

(A14)

i1a-- ,

Gf
-

U, - RI I, = l+\

\'
L

-+Llil,

(A20)

From (A13) and (A14) we can get rid of R2;then we can get

SUL. NOVEL TECHNIQUE OF ROTOR RESISTANCE ESTIMATION

5 . 87

Eliminating R I gives

ACKNOWLEDGMENT The author is indebted to the Wisconsin Electric Machines and Power Electronics Consortium (WEMPEC) for the facilities provided and also to Prof. T. A. Lip0 for his invaluable comments on this study. REFERENCES
L. J . Graces. "Parameter adaptation for the speed-controlled static ac drive with a quirrel-cage induction motor." IEE Trans. Ind. Appl., vol. 1A-16. no. 2. pp. 173-178. MarchiApril 1980 Y. Yoshida. R. Ueda. and T. Sonada. "A new inverter-fed induction motor drive with a function of correcting rotor circuit time constant." IPEC, Tokyo. pp. 672-683. 1983. R. Gabriel and W . Leonhard, "Microprocessor control of induction motor," in IEEE / A S Int. Semiconductor Power Converter Cony.., May 24-27. 1982. pp. 385--396. T. Matsuo and T. A. Lipo, "A rotor parameter identificatioi scheme for vector controlled induction motor drive." IEEE / A S Annu. Meeting Conf, Rec., Sept. 30-Oct. 4. 1984, pp. 538-545. H. Sugimoto and S.Tamai. "Secondary resistance identificntion of an induction motor: Applied model reference adaptive system and its characteristics," IEEE l r l S Annu. Meeting Cotcf. Rec.. Oct 6-1 1. 1985, pp. 613-620. L. C . Zai, "Application of an extended kalman filter to induction machine parameter estimation," Ph.D. thesis. Univ. of WisconsinMadison. 1986. S. K. SUI, "Efficiency improvement of an adjustable speed induction motor drive system using adaptive tracking algorithm." Ph.D. thesis, Seoul National University, Korea, Aug. 1986, (in Korean). D. S. Kirsheri. D. W . Novotny, and W . Suwanwisoot, "Minimizing induction motor losses by excitation control in variable frequency drives," IEEE Trans. Ind. Appl.. vol. IA-20, no. 5 , pp. 12.14-1251, Sept ./Oct. 1984. R. Joetten and G . Maeder. "Control methods for good dynamic performance induction motor drives based on current and voltage as measured quantities." l E E Trans. Ind. A p p l . . vol. IA-19, no. 3 . pp. 356-363. MayiJune 1983. H. C. de Jong. i l .C. '2.lotor Decign with Convenrional and Con\.erter Supplies Oxford: Oxford Univ. Press. 1976. pp. 36-59. D. M .Brcxi. "Current control of VSI-PWM inverters," M.Sc. thesis. U n i \ . of Wisconsin-Madison. 1984.

U&-

~0I~~=Ll;l~~z~-Llil~~~

Equation (A22) is a qua the equation can be foi

equation of R 2 . The solution of dlowing form:

where

Machine param 'is study: All parameters are represented in 1 he machines used in this study. the number the base frequency is 60 Hz. 1 hp: R l = 0 . 0 4 = 0.05. 23, M = 1.213, LIl = 3 hp: RI = 0.G 5 ?' 0.05498, L1, = c ' 10 hp: RI = 0.03C . . ; u.03742, M = 2.31, Lll = 0.1, L,, = 0.1. 100 hp: RI = 0.017, R2 = 0.01, M 1 2 . 5 7 , Lll = 0.07, LIZ = 0.07. 0.01115, R2 = 0.01351, A4 = 3.8471, L , , 500 hp: RI = 0.1, L,? = 0.1.
' L

Seung Ki SUI (S'78-M'87) was born i n Pusdn. Korea. in Mdrch 1958 He received the B S , M S , dnd Ph D degrees froin Seoul National University.

Seoul. Korea. in 1980. 1981. and 1986. re\pectire11

He was a Visiting Research Associate at the University of Wisconw-Madison trom 1986 to 1988 He is now with GoldStar Industrid1 Systems Company i n Yeoul, Korcd. as d Principal Research Engineer Hi\ current research interc\t\ dre i n high trequencq resonant invcrter lor high-powcr applicat i o n \ and digitdl \igndl proccsvng ot rndchine drive systems